353 files changed, 22790 insertions, 6406 deletions

diff --git a/OpenSim/ApplicationPlugins/LoadRegions/Properties/AssemblyInfo.cs b/OpenSim/ApplicationPlugins/LoadRegions/Properties/AssemblyInfo.cs
index 57615ea..b81c1e5 100644
--- a/OpenSim/ApplicationPlugins/LoadRegions/Properties/AssemblyInfo.cs
+++ b/OpenSim/ApplicationPlugins/LoadRegions/Properties/AssemblyInfo.cs
@@ -60,7 +60,7 @@ using System.Runtime.InteropServices;
 //
 // You can specify all the values or you can default the Build and Revision Numbers
 // by using the '*' as shown below:
-// [assembly: AssemblyVersion("0.7.5.*")]
+// [assembly: AssemblyVersion("0.7.6.*")]
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
 [assembly : AssemblyFileVersion("0.6.5.0")]
\ No newline at end of file
diff --git a/OpenSim/ApplicationPlugins/RegionModulesController/Properties/AssemblyInfo.cs b/OpenSim/ApplicationPlugins/RegionModulesController/Properties/AssemblyInfo.cs
index 14527d9..be6054d 100644
--- a/OpenSim/ApplicationPlugins/RegionModulesController/Properties/AssemblyInfo.cs
+++ b/OpenSim/ApplicationPlugins/RegionModulesController/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/ApplicationPlugins/RemoteController/Properties/AssemblyInfo.cs b/OpenSim/ApplicationPlugins/RemoteController/Properties/AssemblyInfo.cs
index 8ad948c..3ec7a13 100644
--- a/OpenSim/ApplicationPlugins/RemoteController/Properties/AssemblyInfo.cs
+++ b/OpenSim/ApplicationPlugins/RemoteController/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Capabilities/Handlers/GetTexture/GetTextureHandler.cs b/OpenSim/Capabilities/Handlers/GetTexture/GetTextureHandler.cs
index 68686c5..aa6203b 100644
--- a/OpenSim/Capabilities/Handlers/GetTexture/GetTextureHandler.cs
+++ b/OpenSim/Capabilities/Handlers/GetTexture/GetTextureHandler.cs
@@ -240,6 +240,11 @@ namespace OpenSim.Capabilities.Handlers
                     }
                     else
                     {
+                        // Handle the case where no second range value was given.  This is equivalent to requesting
+                        // the rest of the entity.
+                        if (end == -1)
+                            end = int.MaxValue;
+
                         end = Utils.Clamp(end, 0, texture.Data.Length - 1);
                         start = Utils.Clamp(start, 0, end);
                         int len = end - start + 1;
@@ -298,15 +303,43 @@ namespace OpenSim.Capabilities.Handlers
 //                    texture.FullID, range, response.StatusCode, response.ContentLength, texture.Data.Length);
         }
 
+        /// <summary>
+        /// Parse a range header.
+        /// </summary>
+        /// <remarks>
+        /// As per http://www.w3.org/Protocols/rfc2616/rfc2616-sec14.html,
+        /// this obeys range headers with two values (e.g. 533-4165) and no second value (e.g. 533-).
+        /// Where there is no value, -1 is returned.
+        /// FIXME: Need to cover the case where only a second value is specified (e.g. -4165), probably by returning -1
+        /// for start.</remarks>
+        /// <returns></returns>
+        /// <param name='header'></param>
+        /// <param name='start'>Start of the range.  Undefined if this was not a number.</param>
+        /// <param name='end'>End of the range.  Will be -1 if no end specified.  Undefined if there was a raw string but this was not a number.</param>
         private bool TryParseRange(string header, out int start, out int end)
         {
+            start = end = 0;
+
             if (header.StartsWith("bytes="))
             {
                 string[] rangeValues = header.Substring(6).Split('-');
+
                 if (rangeValues.Length == 2)
                 {
-                    if (Int32.TryParse(rangeValues[0], out start) && Int32.TryParse(rangeValues[1], out end))
+                    if (!Int32.TryParse(rangeValues[0], out start))
+                        return false;
+
+                    string rawEnd = rangeValues[1];
+
+                    if (rawEnd == "")
+                    {
+                        end = -1;
+                        return true;
+                    }
+                    else if (Int32.TryParse(rawEnd, out end))
+                    {
                         return true;
+                    }
                 }
             }
 
diff --git a/OpenSim/Capabilities/Handlers/GetTexture/Tests/GetTextureHandlerTests.cs b/OpenSim/Capabilities/Handlers/GetTexture/Tests/GetTextureHandlerTests.cs
index b6ae41b..217a265 100644
--- a/OpenSim/Capabilities/Handlers/GetTexture/Tests/GetTextureHandlerTests.cs
+++ b/OpenSim/Capabilities/Handlers/GetTexture/Tests/GetTextureHandlerTests.cs
@@ -43,7 +43,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Capabilities.Handlers.GetTexture.Tests
 {
     [TestFixture]
-    public class GetTextureHandlerTests
+    public class GetTextureHandlerTests : OpenSimTestCase
     {
         [Test]
         public void TestTextureNotFound()
diff --git a/OpenSim/Capabilities/Handlers/Properties/AssemblyInfo.cs b/OpenSim/Capabilities/Handlers/Properties/AssemblyInfo.cs
index a681fb6..4ff5fe1 100644
--- a/OpenSim/Capabilities/Handlers/Properties/AssemblyInfo.cs
+++ b/OpenSim/Capabilities/Handlers/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Capabilities/Properties/AssemblyInfo.cs b/OpenSim/Capabilities/Properties/AssemblyInfo.cs
index 26254f2..f8a9dae 100644
--- a/OpenSim/Capabilities/Properties/AssemblyInfo.cs
+++ b/OpenSim/Capabilities/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/ConsoleClient/Properties/AssemblyInfo.cs b/OpenSim/ConsoleClient/Properties/AssemblyInfo.cs
index c240f90..9c0c784 100644
--- a/OpenSim/ConsoleClient/Properties/AssemblyInfo.cs
+++ b/OpenSim/ConsoleClient/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Data/IPresenceData.cs b/OpenSim/Data/IPresenceData.cs
index b871f56..9ec48b0 100644
--- a/OpenSim/Data/IPresenceData.cs
+++ b/OpenSim/Data/IPresenceData.cs
@@ -53,5 +53,6 @@ namespace OpenSim.Data
         bool ReportAgent(UUID sessionID, UUID regionID);
         PresenceData[] Get(string field, string data);
         bool Delete(string field, string val);
+        bool VerifyAgent(UUID agentId, UUID secureSessionID);
     }
 }
diff --git a/OpenSim/Data/IXGroupData.cs b/OpenSim/Data/IXGroupData.cs
new file mode 100644
index 0000000..2965e8c
--- /dev/null
+++ b/OpenSim/Data/IXGroupData.cs
@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using OpenMetaverse;
+using OpenSim.Framework;
+
+namespace OpenSim.Data
+{
+    public class XGroup
+    {
+        public UUID groupID;
+        public UUID ownerRoleID;
+        public string name;
+        public string charter;
+        public bool showInList; 
+        public UUID insigniaID; 
+        public int membershipFee;
+        public bool openEnrollment;
+        public bool allowPublish;
+        public bool maturePublish; 
+        public UUID founderID;
+        public ulong everyonePowers;
+        public ulong ownersPowers;
+
+        public XGroup Clone()
+        {
+            return (XGroup)MemberwiseClone();
+        }
+    }
+
+    /// <summary>
+    /// Early stub interface for groups data, not final.
+    /// </summary>
+    /// <remarks>
+    /// Currently in-use only for regression test purposes.  Needs to be filled out over time.
+    /// </remarks>
+    public interface IXGroupData
+    {
+        bool StoreGroup(XGroup group);
+        XGroup[] GetGroups(string field, string val);
+        XGroup[] GetGroups(string[] fields, string[] vals);
+        bool DeleteGroups(string field, string val);
+        bool DeleteGroups(string[] fields, string[] vals);
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Data/MSSQL/MSSQLPresenceData.cs b/OpenSim/Data/MSSQL/MSSQLPresenceData.cs
index e7b3d9c..deff2ed 100644
--- a/OpenSim/Data/MSSQL/MSSQLPresenceData.cs
+++ b/OpenSim/Data/MSSQL/MSSQLPresenceData.cs
@@ -100,5 +100,18 @@ namespace OpenSim.Data.MSSQL
             return true;
         }
 
+        public bool VerifyAgent(UUID agentId, UUID secureSessionID)
+        {
+            PresenceData[] ret = Get("SecureSessionID",
+                    secureSessionID.ToString());
+            
+            if (ret.Length == 0)
+                return false;
+
+            if(ret[0].UserID != agentId.ToString())
+                return false;
+
+            return true;
+        }
     }
 }
diff --git a/OpenSim/Data/MSSQL/MSSQLSimulationData.cs b/OpenSim/Data/MSSQL/MSSQLSimulationData.cs
index 5bb6ec9..00af3a0 100644
--- a/OpenSim/Data/MSSQL/MSSQLSimulationData.cs
+++ b/OpenSim/Data/MSSQL/MSSQLSimulationData.cs
@@ -351,7 +351,8 @@ IF EXISTS (SELECT UUID FROM prims WHERE UUID = @UUID)
             ScriptAccessPin = @ScriptAccessPin, AllowedDrop = @AllowedDrop, DieAtEdge = @DieAtEdge, SalePrice = @SalePrice, 
             SaleType = @SaleType, ColorR = @ColorR, ColorG = @ColorG, ColorB = @ColorB, ColorA = @ColorA, ParticleSystem = @ParticleSystem, 
             ClickAction = @ClickAction, Material = @Material, CollisionSound = @CollisionSound, CollisionSoundVolume = @CollisionSoundVolume, PassTouches = @PassTouches,
-            LinkNumber = @LinkNumber, MediaURL = @MediaURL
+            LinkNumber = @LinkNumber, MediaURL = @MediaURL, DynAttrs = @DynAttrs,
+            PhysicsShapeType = @PhysicsShapeType, Density = @Density, GravityModifier = @GravityModifier, Friction = @Friction, Restitution = @Restitution
         WHERE UUID = @UUID
     END
 ELSE
@@ -366,7 +367,8 @@ ELSE
             PayPrice, PayButton1, PayButton2, PayButton3, PayButton4, LoopedSound, LoopedSoundGain, TextureAnimation, OmegaX, 
             OmegaY, OmegaZ, CameraEyeOffsetX, CameraEyeOffsetY, CameraEyeOffsetZ, CameraAtOffsetX, CameraAtOffsetY, CameraAtOffsetZ, 
             ForceMouselook, ScriptAccessPin, AllowedDrop, DieAtEdge, SalePrice, SaleType, ColorR, ColorG, ColorB, ColorA, 
-            ParticleSystem, ClickAction, Material, CollisionSound, CollisionSoundVolume, PassTouches, LinkNumber, MediaURL
+            ParticleSystem, ClickAction, Material, CollisionSound, CollisionSoundVolume, PassTouches, LinkNumber, MediaURL, DynAttrs,
+            PhysicsShapeType, Density, GravityModifier, Friction, Restitution
             ) VALUES (
             @UUID, @CreationDate, @Name, @Text, @Description, @SitName, @TouchName, @ObjectFlags, @OwnerMask, @NextOwnerMask, @GroupMask, 
             @EveryoneMask, @BaseMask, @PositionX, @PositionY, @PositionZ, @GroupPositionX, @GroupPositionY, @GroupPositionZ, @VelocityX, 
@@ -376,7 +378,8 @@ ELSE
             @PayPrice, @PayButton1, @PayButton2, @PayButton3, @PayButton4, @LoopedSound, @LoopedSoundGain, @TextureAnimation, @OmegaX, 
             @OmegaY, @OmegaZ, @CameraEyeOffsetX, @CameraEyeOffsetY, @CameraEyeOffsetZ, @CameraAtOffsetX, @CameraAtOffsetY, @CameraAtOffsetZ, 
             @ForceMouselook, @ScriptAccessPin, @AllowedDrop, @DieAtEdge, @SalePrice, @SaleType, @ColorR, @ColorG, @ColorB, @ColorA, 
-            @ParticleSystem, @ClickAction, @Material, @CollisionSound, @CollisionSoundVolume, @PassTouches, @LinkNumber, @MediaURL
+            @ParticleSystem, @ClickAction, @Material, @CollisionSound, @CollisionSoundVolume, @PassTouches, @LinkNumber, @MediaURL, @DynAttrs,
+            @PhysicsShapeType, @Density, @GravityModifier, @Friction, @Restitution
             )
     END";
 
@@ -1691,6 +1694,17 @@ VALUES
 
             if (!(primRow["MediaURL"] is System.DBNull))
                 prim.MediaUrl = (string)primRow["MediaURL"];
+            
+            if (!(primRow["DynAttrs"] is System.DBNull))
+                prim.DynAttrs = DAMap.FromXml((string)primRow["DynAttrs"]);
+            else
+                prim.DynAttrs = new DAMap();             
+
+            prim.PhysicsShapeType = Convert.ToByte(primRow["PhysicsShapeType"]);
+            prim.Density = Convert.ToSingle(primRow["Density"]);
+            prim.GravityModifier = Convert.ToSingle(primRow["GravityModifier"]);
+            prim.Friction = Convert.ToSingle(primRow["Friction"]);
+            prim.Restitution = Convert.ToSingle(primRow["Restitution"]);
 
             return prim;
         }
@@ -1749,7 +1763,6 @@ VALUES
                 baseShape.Media = PrimitiveBaseShape.MediaList.FromXml((string)shapeRow["Media"]);
             }
 
-
             return baseShape;
         }
 
@@ -2086,6 +2099,17 @@ VALUES
                 parameters.Add(_Database.CreateParameter("PassTouches", 0));
             parameters.Add(_Database.CreateParameter("LinkNumber", prim.LinkNum));
             parameters.Add(_Database.CreateParameter("MediaURL", prim.MediaUrl));
+            
+            if (prim.DynAttrs.Count > 0)
+                parameters.Add(_Database.CreateParameter("DynAttrs", prim.DynAttrs.ToXml()));
+            else
+                parameters.Add(_Database.CreateParameter("DynAttrs", null));
+            
+            parameters.Add(_Database.CreateParameter("PhysicsShapeType", prim.PhysicsShapeType));
+            parameters.Add(_Database.CreateParameter("Density", (double)prim.Density));
+            parameters.Add(_Database.CreateParameter("GravityModifier", (double)prim.GravityModifier));
+            parameters.Add(_Database.CreateParameter("Friction", (double)prim.Friction));
+            parameters.Add(_Database.CreateParameter("Restitution", (double)prim.Restitution));
 
             return parameters.ToArray();
         }
@@ -2143,7 +2167,6 @@ VALUES
                 parameters.Add(_Database.CreateParameter("Media", s.Media.ToXml()));
             }
 
-
             return parameters.ToArray();
         }
 
diff --git a/OpenSim/Data/MSSQL/Properties/AssemblyInfo.cs b/OpenSim/Data/MSSQL/Properties/AssemblyInfo.cs
index 1a67e70..4e96be8 100644
--- a/OpenSim/Data/MSSQL/Properties/AssemblyInfo.cs
+++ b/OpenSim/Data/MSSQL/Properties/AssemblyInfo.cs
@@ -61,5 +61,5 @@ using System.Runtime.InteropServices;
 // You can specify all the values or you can default the Revision and Build Numbers
 // by using the '*' as shown below:
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
 [assembly : AssemblyFileVersion("0.6.5.0")]
diff --git a/OpenSim/Data/MSSQL/Resources/RegionStore.migrations b/OpenSim/Data/MSSQL/Resources/RegionStore.migrations
index 350e548..b84c2a4 100644
--- a/OpenSim/Data/MSSQL/Resources/RegionStore.migrations
+++ b/OpenSim/Data/MSSQL/Resources/RegionStore.migrations
@@ -1148,3 +1148,23 @@ CREATE TABLE [dbo].[regionenvironment](
 ) ON [PRIMARY]
 
 COMMIT
+
+:VERSION 38       #---------------- Dynamic attributes
+
+BEGIN TRANSACTION
+
+ALTER TABLE prims ADD COLUMN DynAttrs TEXT;
+
+COMMIT
+
+:VERSION 39       #---------------- Extra physics params
+
+BEGIN TRANSACTION
+
+ALTER TABLE prims ADD COLUMN `PhysicsShapeType` tinyint(4) NOT NULL default '0';
+ALTER TABLE prims ADD COLUMN `Density` double NOT NULL default '1000';
+ALTER TABLE prims ADD COLUMN `GravityModifier` double NOT NULL default '1';
+ALTER TABLE prims ADD COLUMN `Friction` double NOT NULL default '0.6';
+ALTER TABLE prims ADD COLUMN `Restitution` double NOT NULL default '0.5';
+
+COMMIT
diff --git a/OpenSim/Data/MySQL/MySQLPresenceData.cs b/OpenSim/Data/MySQL/MySQLPresenceData.cs
index 7808060..3f90639 100644
--- a/OpenSim/Data/MySQL/MySQLPresenceData.cs
+++ b/OpenSim/Data/MySQL/MySQLPresenceData.cs
@@ -95,5 +95,19 @@ namespace OpenSim.Data.MySQL
 
             return true;
         }
+
+        public bool VerifyAgent(UUID agentId, UUID secureSessionID)
+        {
+            PresenceData[] ret = Get("SecureSessionID",
+                    secureSessionID.ToString());
+
+            if (ret.Length == 0)
+                return false;
+
+            if(ret[0].UserID != agentId.ToString())
+                return false;
+
+            return true;
+        }
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Data/MySQL/MySQLSimulationData.cs b/OpenSim/Data/MySQL/MySQLSimulationData.cs
index d5a4f46..5320543 100644
--- a/OpenSim/Data/MySQL/MySQLSimulationData.cs
+++ b/OpenSim/Data/MySQL/MySQLSimulationData.cs
@@ -176,7 +176,7 @@ namespace OpenSim.Data.MySQL
                                     "PassCollisions, " +
                                     "LinkNumber, MediaURL, KeyframeMotion, " +
                                     "PhysicsShapeType, Density, GravityModifier, " +
-                                    "Friction, Restitution, Vehicle " +
+                                    "Friction, Restitution, Vehicle, DynAttrs " +
                                     ") values (" + "?UUID, " +
                                     "?CreationDate, ?Name, ?Text, " +
                                     "?Description, ?SitName, ?TouchName, " +
@@ -211,7 +211,7 @@ namespace OpenSim.Data.MySQL
                                     "?CollisionSoundVolume, ?PassTouches, ?PassCollisions, " +
                                     "?LinkNumber, ?MediaURL, ?KeyframeMotion, " +
                                     "?PhysicsShapeType, ?Density, ?GravityModifier, " +
-                                    "?Friction, ?Restitution, ?Vehicle)";
+                                    "?Friction, ?Restitution, ?Vehicle, ?DynAttrs)";
 
                             FillPrimCommand(cmd, prim, obj.UUID, regionUUID);
 
@@ -228,7 +228,8 @@ namespace OpenSim.Data.MySQL
                                     "PathTaperX, PathTaperY, PathTwist, " +
                                     "PathTwistBegin, ProfileBegin, ProfileEnd, " +
                                     "ProfileCurve, ProfileHollow, Texture, " +
-                                    "ExtraParams, State, Media) values (?UUID, " +
+                                    "ExtraParams, State, Media) " +
+                                    "values (?UUID, " +
                                     "?Shape, ?ScaleX, ?ScaleY, ?ScaleZ, " +
                                     "?PCode, ?PathBegin, ?PathEnd, " +
                                     "?PathScaleX, ?PathScaleY, " +
@@ -1321,6 +1322,11 @@ namespace OpenSim.Data.MySQL
             
             if (!(row["MediaURL"] is System.DBNull))
                 prim.MediaUrl = (string)row["MediaURL"];
+            
+            if (!(row["DynAttrs"] is System.DBNull))
+                prim.DynAttrs = DAMap.FromXml((string)row["DynAttrs"]);
+            else
+                prim.DynAttrs = new DAMap();        
 
             if (!(row["KeyframeMotion"] is DBNull))
             {
@@ -1721,16 +1727,21 @@ namespace OpenSim.Data.MySQL
             else
                 cmd.Parameters.AddWithValue("KeyframeMotion", new Byte[0]);
 
+            if (prim.VehicleParams != null)
+                cmd.Parameters.AddWithValue("Vehicle", prim.VehicleParams.ToXml2());
+            else
+                cmd.Parameters.AddWithValue("Vehicle", String.Empty);
+
+            if (prim.DynAttrs.Count > 0)
+                cmd.Parameters.AddWithValue("DynAttrs", prim.DynAttrs.ToXml());
+            else
+                cmd.Parameters.AddWithValue("DynAttrs", null);
+
             cmd.Parameters.AddWithValue("PhysicsShapeType", prim.PhysicsShapeType);
             cmd.Parameters.AddWithValue("Density", (double)prim.Density);
             cmd.Parameters.AddWithValue("GravityModifier", (double)prim.GravityModifier);
             cmd.Parameters.AddWithValue("Friction", (double)prim.Friction);
             cmd.Parameters.AddWithValue("Restitution", (double)prim.Restitution);
-
-            if (prim.VehicleParams != null)
-                cmd.Parameters.AddWithValue("Vehicle", prim.VehicleParams.ToXml2());
-            else
-                cmd.Parameters.AddWithValue("Vehicle", String.Empty);
         }
 
         /// <summary>
diff --git a/OpenSim/Data/MySQL/Properties/AssemblyInfo.cs b/OpenSim/Data/MySQL/Properties/AssemblyInfo.cs
index ab3fe36..7bfa28d 100644
--- a/OpenSim/Data/MySQL/Properties/AssemblyInfo.cs
+++ b/OpenSim/Data/MySQL/Properties/AssemblyInfo.cs
@@ -61,5 +61,5 @@ using System.Runtime.InteropServices;
 // You can specify all the values or you can default the Revision and Build Numbers
 // by using the '*' as shown below:
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
 [assembly : AssemblyFileVersion("0.6.5.0")]
diff --git a/OpenSim/Data/MySQL/Resources/RegionStore.migrations b/OpenSim/Data/MySQL/Resources/RegionStore.migrations
index c4b0832..bda1b6a 100644
--- a/OpenSim/Data/MySQL/Resources/RegionStore.migrations
+++ b/OpenSim/Data/MySQL/Resources/RegionStore.migrations
@@ -902,3 +902,23 @@ BEGIN;
 CREATE TABLE `regionextra` (`RegionID` char(36) not null, `Name` varchar(32) not null, `value` text, primary key(`RegionID`, `Name`));
 
 COMMIT;
+
+:VERSION 46       #---------------- Dynamic attributes
+
+BEGIN;
+
+ALTER TABLE prims ADD COLUMN DynAttrs TEXT;
+
+COMMIT;
+
+:VERSION 47       #---------------- Extra physics params
+
+BEGIN;
+
+ALTER TABLE prims ADD COLUMN `PhysicsShapeType` tinyint(4) NOT NULL default '0';
+ALTER TABLE prims ADD COLUMN `Density` double NOT NULL default '1000';
+ALTER TABLE prims ADD COLUMN `GravityModifier` double NOT NULL default '1';
+ALTER TABLE prims ADD COLUMN `Friction` double NOT NULL default '0.6';
+ALTER TABLE prims ADD COLUMN `Restitution` double NOT NULL default '0.5';
+
+COMMIT;
diff --git a/OpenSim/Region/Framework/Scenes/Scripting/NullScriptHost.cs b/OpenSim/Data/Null/NullGenericDataHandler.cs
index d7198f0..dd9d190 100644
--- a/OpenSim/Region/Framework/Scenes/Scripting/NullScriptHost.cs
+++ b/OpenSim/Data/Null/NullGenericDataHandler.cs
@@ -26,66 +26,42 @@
  */
 
 using System;
-using OpenMetaverse;
-using log4net;
+using System.Collections.Generic;
+using System.Linq;
 using System.Reflection;
+using log4net;
+using OpenMetaverse;
 using OpenSim.Framework;
+using OpenSim.Data;
 
-namespace OpenSim.Region.Framework.Scenes.Scripting
+namespace OpenSim.Data.Null
 {
-    public class NullScriptHost : IScriptHost
+    /// <summary>
+    /// Not a proper generic data handler yet - probably needs to actually store the data as well instead of relying
+    /// on descendent classes
+    /// </summary>
+    public class NullGenericDataHandler
     {
-        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-
-        private Vector3 m_pos = new Vector3(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 30);
-
-        public string Name
-        {
-            get { return "Object"; }
-            set { }
-        }
-
-        public string SitName
+        protected List<T> Get<T>(string[] fields, string[] vals, List<T> inputEntities)
         {
-            get { return String.Empty; }
-            set { }
-        }
+            List<T> entities = inputEntities;
 
-        public string TouchName
-        {
-            get { return String.Empty; }
-            set { }
-        }
+            for (int i = 0; i < fields.Length; i++)
+            {
+                entities
+                    = entities.Where(
+                        e =>
+                        {
+                            FieldInfo fi = typeof(T).GetField(fields[i]);
+                            if (fi == null)
+                                throw new NotImplementedException(string.Format("No field {0} for val {1}", fields[i], vals[i]));
 
-        public string Description
-        {
-            get { return String.Empty; }
-            set { }
-        }
+                            return fi.GetValue(e).ToString() == vals[i];
+                        }
+                    ).ToList();
+            }
 
-        public UUID UUID
-        {
-            get { return UUID.Zero; }
-        }
-
-        public UUID OwnerID
-        {
-            get { return UUID.Zero; }
-        }
-
-        public UUID CreatorID
-        {
-            get { return UUID.Zero; }
-        }
-
-        public Vector3 AbsolutePosition
-        {
-            get { return m_pos; }
-        }
-
-        public void SetText(string text, Vector3 color, double alpha)
-        {
-            m_log.Warn("Tried to SetText "+text+" on NullScriptHost");
+            return entities;
         }
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Data/Null/NullPresenceData.cs b/OpenSim/Data/Null/NullPresenceData.cs
index c06c223..b85b95e 100644
--- a/OpenSim/Data/Null/NullPresenceData.cs
+++ b/OpenSim/Data/Null/NullPresenceData.cs
@@ -222,5 +222,13 @@ namespace OpenSim.Data.Null
             return true;
         }
 
+        public bool VerifyAgent(UUID agentId, UUID secureSessionID)
+        {
+            if (Instance != this)
+                return Instance.VerifyAgent(agentId, secureSessionID);
+
+            return false;
+        }
+
     }
 }
diff --git a/OpenSim/Data/Null/NullRegionData.cs b/OpenSim/Data/Null/NullRegionData.cs
index b4d701a..f707d98 100644
--- a/OpenSim/Data/Null/NullRegionData.cs
+++ b/OpenSim/Data/Null/NullRegionData.cs
@@ -113,11 +113,14 @@ namespace OpenSim.Data.Null
             // Find region data
             List<RegionData> ret = new List<RegionData>();
 
-            foreach (RegionData r in m_regionData.Values)
+            lock (m_regionData)
             {
-//                    m_log.DebugFormat("[NULL REGION DATA]: comparing {0} to {1}", cleanName, r.RegionName.ToLower());
+                foreach (RegionData r in m_regionData.Values)
+                {
+                    // m_log.DebugFormat("[NULL REGION DATA]: comparing {0} to {1}", cleanName, r.RegionName.ToLower());
                     if (queryMatch(r.RegionName.ToLower()))
                         ret.Add(r);
+                }
             }
 
             if (ret.Count > 0)
@@ -133,10 +136,13 @@ namespace OpenSim.Data.Null
 
             List<RegionData> ret = new List<RegionData>();
 
-            foreach (RegionData r in m_regionData.Values)
+            lock (m_regionData)
             {
-                if (r.posX == posX && r.posY == posY)
-                    ret.Add(r);
+                foreach (RegionData r in m_regionData.Values)
+                {
+                    if (r.posX == posX && r.posY == posY)
+                        ret.Add(r);
+                }
             }
 
             if (ret.Count > 0)
@@ -150,8 +156,11 @@ namespace OpenSim.Data.Null
             if (m_useStaticInstance && Instance != this)
                 return Instance.Get(regionID, scopeID);
 
-            if (m_regionData.ContainsKey(regionID))
-                return m_regionData[regionID];
+            lock (m_regionData)
+            {
+                if (m_regionData.ContainsKey(regionID))
+                    return m_regionData[regionID];
+            }
 
             return null;
         }
@@ -163,10 +172,13 @@ namespace OpenSim.Data.Null
 
             List<RegionData> ret = new List<RegionData>();
 
-            foreach (RegionData r in m_regionData.Values)
+            lock (m_regionData)
             {
-                if (r.posX >= startX && r.posX <= endX && r.posY >= startY && r.posY <= endY)
-                    ret.Add(r);
+                foreach (RegionData r in m_regionData.Values)
+                {
+                    if (r.posX >= startX && r.posX <= endX && r.posY >= startY && r.posY <= endY)
+                        ret.Add(r);
+                }
             }
 
             return ret;
@@ -180,7 +192,10 @@ namespace OpenSim.Data.Null
 //            m_log.DebugFormat(
 //                "[NULL REGION DATA]: Storing region {0} {1}, scope {2}", data.RegionName, data.RegionID, data.ScopeID);
 
-            m_regionData[data.RegionID] = data;
+            lock (m_regionData)
+            {
+                m_regionData[data.RegionID] = data;
+            }
 
             return true;
         }
@@ -190,10 +205,13 @@ namespace OpenSim.Data.Null
             if (m_useStaticInstance && Instance != this)
                 return Instance.SetDataItem(regionID, item, value);
 
-            if (!m_regionData.ContainsKey(regionID))
-                return false;
+            lock (m_regionData)
+            {
+                if (!m_regionData.ContainsKey(regionID))
+                    return false;
 
-            m_regionData[regionID].Data[item] = value;
+                m_regionData[regionID].Data[item] = value;
+            }
 
             return true;
         }
@@ -205,10 +223,13 @@ namespace OpenSim.Data.Null
 
 //            m_log.DebugFormat("[NULL REGION DATA]: Deleting region {0}", regionID);
 
-            if (!m_regionData.ContainsKey(regionID))
-                return false;
+            lock (m_regionData)
+            {
+                if (!m_regionData.ContainsKey(regionID))
+                    return false;
 
-            m_regionData.Remove(regionID);
+                m_regionData.Remove(regionID);
+            }
 
             return true;
         }
@@ -238,10 +259,13 @@ namespace OpenSim.Data.Null
 
             List<RegionData> ret = new List<RegionData>();
 
-            foreach (RegionData r in m_regionData.Values)
+            lock (m_regionData)
             {
-                if ((Convert.ToInt32(r.Data["flags"]) & regionFlags) != 0)
-                    ret.Add(r);
+                foreach (RegionData r in m_regionData.Values)
+                {
+                    if ((Convert.ToInt32(r.Data["flags"]) & regionFlags) != 0)
+                        ret.Add(r);
+                }
             }
 
             return ret;
diff --git a/OpenSim/Data/Null/NullXGroupData.cs b/OpenSim/Data/Null/NullXGroupData.cs
new file mode 100644
index 0000000..7a86b9f
--- /dev/null
+++ b/OpenSim/Data/Null/NullXGroupData.cs
@@ -0,0 +1,90 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using System.Threading;
+using log4net;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Data;
+
+namespace OpenSim.Data.Null
+{
+    public class NullXGroupData : NullGenericDataHandler, IXGroupData
+    {
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private Dictionary<UUID, XGroup> m_groups = new Dictionary<UUID, XGroup>();
+
+        public NullXGroupData(string connectionString, string realm) {}
+
+        public bool StoreGroup(XGroup group)
+        {
+            lock (m_groups)
+            {
+                m_groups[group.groupID] = group.Clone();
+            }
+
+            return true;
+        }
+
+        public XGroup[] GetGroups(string field, string val)
+        {
+            return GetGroups(new string[] { field }, new string[] { val });
+        }
+
+        public XGroup[] GetGroups(string[] fields, string[] vals)
+        {
+            lock (m_groups)
+            {
+                List<XGroup> origGroups = Get<XGroup>(fields, vals, m_groups.Values.ToList());
+
+                return origGroups.Select(g => g.Clone()).ToArray();
+            }
+        }
+
+        public bool DeleteGroups(string field, string val)
+        {
+            return DeleteGroups(new string[] { field }, new string[] { val });
+        }
+
+        public bool DeleteGroups(string[] fields, string[] vals)
+        {
+            lock (m_groups)
+            {
+                XGroup[] groupsToDelete = GetGroups(fields, vals);
+                Array.ForEach(groupsToDelete, g => m_groups.Remove(g.groupID));
+            }
+
+            return true;
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Data/Null/Properties/AssemblyInfo.cs b/OpenSim/Data/Null/Properties/AssemblyInfo.cs
index 43b0bb3..3931b3d 100644
--- a/OpenSim/Data/Null/Properties/AssemblyInfo.cs
+++ b/OpenSim/Data/Null/Properties/AssemblyInfo.cs
@@ -61,5 +61,5 @@ using System.Runtime.InteropServices;
 // You can specify all the values or you can default the Revision and Build Numbers
 // by using the '*' as shown below:
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
 [assembly : AssemblyFileVersion("0.6.5.0")]
diff --git a/OpenSim/Data/Properties/AssemblyInfo.cs b/OpenSim/Data/Properties/AssemblyInfo.cs
index 0da1a6b..9f342ad 100644
--- a/OpenSim/Data/Properties/AssemblyInfo.cs
+++ b/OpenSim/Data/Properties/AssemblyInfo.cs
@@ -61,5 +61,5 @@ using System.Runtime.InteropServices;
 // You can specify all the values or you can default the Revision and Build Numbers
 // by using the '*' as shown below:
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
 [assembly : AssemblyFileVersion("0.6.5.0")]
diff --git a/OpenSim/Data/SQLite/Properties/AssemblyInfo.cs b/OpenSim/Data/SQLite/Properties/AssemblyInfo.cs
index c9a8553..ba52f82 100644
--- a/OpenSim/Data/SQLite/Properties/AssemblyInfo.cs
+++ b/OpenSim/Data/SQLite/Properties/AssemblyInfo.cs
@@ -61,5 +61,5 @@ using System.Runtime.InteropServices;
 // You can specify all the values or you can default the Revision and Build Numbers
 // by using the '*' as shown below:
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
 [assembly : AssemblyFileVersion("0.6.5.0")]
diff --git a/OpenSim/Data/SQLite/Resources/RegionStore.migrations b/OpenSim/Data/SQLite/Resources/RegionStore.migrations
index e872977..c6f4b48 100644
--- a/OpenSim/Data/SQLite/Resources/RegionStore.migrations
+++ b/OpenSim/Data/SQLite/Resources/RegionStore.migrations
@@ -575,3 +575,20 @@ CREATE TABLE `regionenvironment` (
 );
 
 COMMIT;
+
+:VERSION 27
+BEGIN;
+ALTER TABLE prims ADD COLUMN DynAttrs TEXT;
+COMMIT;
+
+:VERSION 28
+
+BEGIN;
+
+ALTER TABLE prims ADD COLUMN `PhysicsShapeType` tinyint(4) NOT NULL default '0';
+ALTER TABLE prims ADD COLUMN `Density` double NOT NULL default '1000';
+ALTER TABLE prims ADD COLUMN `GravityModifier` double NOT NULL default '1';
+ALTER TABLE prims ADD COLUMN `Friction` double NOT NULL default '0.6';
+ALTER TABLE prims ADD COLUMN `Restitution` double NOT NULL default '0.5';
+
+COMMIT;
diff --git a/OpenSim/Data/SQLite/SQLiteSimulationData.cs b/OpenSim/Data/SQLite/SQLiteSimulationData.cs
index 42cd59d..99a6598 100644
--- a/OpenSim/Data/SQLite/SQLiteSimulationData.cs
+++ b/OpenSim/Data/SQLite/SQLiteSimulationData.cs
@@ -1232,6 +1232,14 @@ namespace OpenSim.Data.SQLite
             createCol(prims, "VolumeDetect", typeof(Int16));
 
             createCol(prims, "MediaURL", typeof(String));
+            
+            createCol(prims, "DynAttrs", typeof(String));
+
+            createCol(prims, "PhysicsShapeType", typeof(Byte));
+            createCol(prims, "Density", typeof(Double));
+            createCol(prims, "GravityModifier", typeof(Double));
+            createCol(prims, "Friction", typeof(Double));
+            createCol(prims, "Restitution", typeof(Double));
 
             // Add in contraints
             prims.PrimaryKey = new DataColumn[] { prims.Columns["UUID"] };
@@ -1711,6 +1719,22 @@ namespace OpenSim.Data.SQLite
 //                m_log.DebugFormat("[SQLITE]: MediaUrl type [{0}]", row["MediaURL"].GetType());
                 prim.MediaUrl = (string)row["MediaURL"];
             }
+            
+            if (!(row["DynAttrs"] is System.DBNull))
+            {
+                //m_log.DebugFormat("[SQLITE]: DynAttrs type [{0}]", row["DynAttrs"].GetType());
+                prim.DynAttrs = DAMap.FromXml((string)row["DynAttrs"]);
+            }   
+            else
+            {
+                prim.DynAttrs = new DAMap();
+            }
+
+            prim.PhysicsShapeType = Convert.ToByte(row["PhysicsShapeType"]);
+            prim.Density = Convert.ToSingle(row["Density"]);
+            prim.GravityModifier = Convert.ToSingle(row["GravityModifier"]);
+            prim.Friction = Convert.ToSingle(row["Friction"]);
+            prim.Restitution = Convert.ToSingle(row["Restitution"]);
 
             return prim;
         }
@@ -2133,6 +2157,17 @@ namespace OpenSim.Data.SQLite
                 row["VolumeDetect"] = 0;
 
             row["MediaURL"] = prim.MediaUrl;
+
+            if (prim.DynAttrs.Count > 0)
+                row["DynAttrs"] = prim.DynAttrs.ToXml();
+            else
+                row["DynAttrs"] = null;
+
+            row["PhysicsShapeType"] = prim.PhysicsShapeType;
+            row["Density"] = (double)prim.Density;
+            row["GravityModifier"] = (double)prim.GravityModifier;
+            row["Friction"] = (double)prim.Friction;
+            row["Restitution"] = (double)prim.Restitution;
         }
 
         /// <summary>
@@ -2392,7 +2427,7 @@ namespace OpenSim.Data.SQLite
 
             if (!(row["Media"] is System.DBNull))
                 s.Media = PrimitiveBaseShape.MediaList.FromXml((string)row["Media"]);
-
+                        
             return s;
         }
 
diff --git a/OpenSim/Data/Tests/AssetTests.cs b/OpenSim/Data/Tests/AssetTests.cs
index 1174e2f..8cb2ee0 100644
--- a/OpenSim/Data/Tests/AssetTests.cs
+++ b/OpenSim/Data/Tests/AssetTests.cs
@@ -49,7 +49,7 @@ using OpenSim.Data.SQLite;
 namespace OpenSim.Data.Tests
 {
     [TestFixture(Description = "Asset store tests (SQLite)")]
-    public class SQLiteAssetTests : AssetTests<SqliteConnection, SQLiteAssetData>
+    public class SQLiteAssetTests :  AssetTests<SqliteConnection, SQLiteAssetData>
     {
     }
 
diff --git a/OpenSim/Data/Tests/BasicDataServiceTest.cs b/OpenSim/Data/Tests/BasicDataServiceTest.cs
index 7d85f0c..69b79bf 100644
--- a/OpenSim/Data/Tests/BasicDataServiceTest.cs
+++ b/OpenSim/Data/Tests/BasicDataServiceTest.cs
@@ -33,6 +33,7 @@ using NUnit.Framework;
 using NUnit.Framework.Constraints;
 using OpenMetaverse;
 using OpenSim.Framework;
+using OpenSim.Tests.Common;
 using log4net;
 using System.Data;
 using System.Data.Common;
@@ -43,6 +44,12 @@ namespace OpenSim.Data.Tests
     /// <summary>This is a base class for testing any Data service for any DBMS. 
     /// Requires NUnit 2.5 or better (to support the generics).
     /// </summary>
+    /// <remarks>
+    /// FIXME: Should extend OpenSimTestCase but compile on mono 2.4.3 currently fails with 
+    /// AssetTests`2 : System.MemberAccessException : Cannot create an instance of OpenSim.Data.Tests.AssetTests`2[TConn,TAssetData] because Type.ContainsGenericParameters is true.
+    /// and similar on EstateTests, InventoryTests and RegionTests.
+    /// Runs fine with mono 2.10.8.1, so easiest thing is to wait until min Mono version uplifts.
+    /// </remarks>
     /// <typeparam name="TConn"></typeparam>
     /// <typeparam name="TService"></typeparam>
     public class BasicDataServiceTest<TConn, TService>
diff --git a/OpenSim/Data/Tests/PropertyCompareConstraint.cs b/OpenSim/Data/Tests/PropertyCompareConstraint.cs
index 6c79bda..b99525a 100644
--- a/OpenSim/Data/Tests/PropertyCompareConstraint.cs
+++ b/OpenSim/Data/Tests/PropertyCompareConstraint.cs
@@ -36,6 +36,7 @@ using NUnit.Framework;
 using NUnit.Framework.Constraints;
 using OpenMetaverse;
 using OpenSim.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Data.Tests
 {
@@ -254,7 +255,7 @@ namespace OpenSim.Data.Tests
     }
 
     [TestFixture]
-    public class PropertyCompareConstraintTest
+    public class PropertyCompareConstraintTest : OpenSimTestCase
     {
         public class HasInt
         {
diff --git a/OpenSim/Data/Tests/PropertyScrambler.cs b/OpenSim/Data/Tests/PropertyScrambler.cs
index c5d40c2..e0f5862 100644
--- a/OpenSim/Data/Tests/PropertyScrambler.cs
+++ b/OpenSim/Data/Tests/PropertyScrambler.cs
@@ -34,6 +34,7 @@ using System.Text;
 using NUnit.Framework;
 using OpenMetaverse;
 using OpenSim.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Data.Tests
 {
@@ -158,7 +159,7 @@ namespace OpenSim.Data.Tests
     }
 
     [TestFixture]
-    public class PropertyScramblerTests
+    public class PropertyScramblerTests : OpenSimTestCase
     {
         [Test]
         public void TestScramble()
diff --git a/OpenSim/Framework/AssemblyInfo.cs b/OpenSim/Framework/AssemblyInfo.cs
index 02986d5..b3db56c 100644
--- a/OpenSim/Framework/AssemblyInfo.cs
+++ b/OpenSim/Framework/AssemblyInfo.cs
@@ -59,5 +59,5 @@ using System.Runtime.InteropServices;
 //      Revision
 //
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
 [assembly : AssemblyFileVersion("0.6.5.0")]
\ No newline at end of file
diff --git a/OpenSim/Framework/AssetLoader/Filesystem/Properties/AssemblyInfo.cs b/OpenSim/Framework/AssetLoader/Filesystem/Properties/AssemblyInfo.cs
index 0498ed4..077244d 100644
--- a/OpenSim/Framework/AssetLoader/Filesystem/Properties/AssemblyInfo.cs
+++ b/OpenSim/Framework/AssetLoader/Filesystem/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Framework/Communications/Properties/AssemblyInfo.cs b/OpenSim/Framework/Communications/Properties/AssemblyInfo.cs
index 6d1c03a..cf575ac 100644
--- a/OpenSim/Framework/Communications/Properties/AssemblyInfo.cs
+++ b/OpenSim/Framework/Communications/Properties/AssemblyInfo.cs
@@ -61,5 +61,5 @@ using System.Runtime.InteropServices;
 // You can specify all the values or you can default the Revision and Build Numbers
 // by using the '*' as shown below:
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
 [assembly : AssemblyFileVersion("0.6.5.0")]
diff --git a/OpenSim/Framework/Configuration/HTTP/Properties/AssemblyInfo.cs b/OpenSim/Framework/Configuration/HTTP/Properties/AssemblyInfo.cs
index 0674656..c3b6227 100644
--- a/OpenSim/Framework/Configuration/HTTP/Properties/AssemblyInfo.cs
+++ b/OpenSim/Framework/Configuration/HTTP/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Framework/Configuration/XML/Properties/AssemblyInfo.cs b/OpenSim/Framework/Configuration/XML/Properties/AssemblyInfo.cs
index 1095b23..b0d2d67 100644
--- a/OpenSim/Framework/Configuration/XML/Properties/AssemblyInfo.cs
+++ b/OpenSim/Framework/Configuration/XML/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Framework/Console/AssemblyInfo.cs b/OpenSim/Framework/Console/AssemblyInfo.cs
index 37c7304..c618454 100644
--- a/OpenSim/Framework/Console/AssemblyInfo.cs
+++ b/OpenSim/Framework/Console/AssemblyInfo.cs
@@ -55,4 +55,4 @@ using System.Runtime.InteropServices;
 // You can specify all values by your own or you can build default build and revision
 // numbers with the '*' character (the default):
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
diff --git a/OpenSim/Framework/Console/CommandConsole.cs b/OpenSim/Framework/Console/CommandConsole.cs
index d703d78..9490013 100644
--- a/OpenSim/Framework/Console/CommandConsole.cs
+++ b/OpenSim/Framework/Console/CommandConsole.cs
@@ -110,10 +110,11 @@ namespace OpenSim.Framework.Console
             // Remove initial help keyword
             helpParts.RemoveAt(0);
 
+            help.Add(""); // Will become a newline.
+
             // General help
             if (helpParts.Count == 0)
             {
-                help.Add(""); // Will become a newline.
                 help.Add(GeneralHelpText);
                 help.AddRange(CollectAllCommandsHelp());
             }
@@ -129,6 +130,8 @@ namespace OpenSim.Framework.Console
                 help.AddRange(CollectHelp(helpParts));
             }
 
+            help.Add(""); // Will become a newline.
+
             return help;
         }
 
@@ -199,14 +202,11 @@ namespace OpenSim.Framework.Console
 
                 string descriptiveHelp = commandInfo.descriptive_help;
 
-                // If we do have some descriptive help then insert a spacing line before and after for readability.
+                // If we do have some descriptive help then insert a spacing line before for readability.
                 if (descriptiveHelp != string.Empty)
                     help.Add(string.Empty);
                 
                 help.Add(commandInfo.descriptive_help);
-
-                if (descriptiveHelp != string.Empty)
-                    help.Add(string.Empty);
             }
             else
             {
diff --git a/OpenSim/Framework/Console/ConsoleDisplayTable.cs b/OpenSim/Framework/Console/ConsoleDisplayTable.cs
index c620dfe..711a337 100644
--- a/OpenSim/Framework/Console/ConsoleDisplayTable.cs
+++ b/OpenSim/Framework/Console/ConsoleDisplayTable.cs
@@ -56,7 +56,7 @@ namespace OpenSim.Framework.Console
         public List<ConsoleDisplayTableRow> Rows { get; private set; }
 
         /// <summary>
-        /// Number of spaces to indent the table.
+        /// Number of spaces to indent the whole table.
         /// </summary>
         public int Indent { get; set; }
 
@@ -84,7 +84,7 @@ namespace OpenSim.Framework.Console
             Columns.Add(new ConsoleDisplayTableColumn(name, width));
         }
 
-        public void AddRow(params string[] cells)
+        public void AddRow(params object[] cells)
         {
             Rows.Add(new ConsoleDisplayTableRow(cells));
         }
@@ -113,7 +113,8 @@ namespace OpenSim.Framework.Console
 
             for (int i = 0; i < Columns.Count; i++)
             {
-                formatSb.Append(' ', TableSpacing);
+                if (i != 0)
+                    formatSb.Append(' ', TableSpacing);
 
                 // Can only do left formatting for now
                 formatSb.AppendFormat("{{{0},-{1}}}", i, Columns[i].Width);
@@ -139,16 +140,16 @@ namespace OpenSim.Framework.Console
 
     public struct ConsoleDisplayTableRow
     {
-        public List<string> Cells { get; private set; }
+        public List<object> Cells { get; private set; }
 
-        public ConsoleDisplayTableRow(List<string> cells) : this()
+        public ConsoleDisplayTableRow(List<object> cells) : this()
         {
             Cells = cells;
         }
 
-        public ConsoleDisplayTableRow(params string[] cells) : this()
+        public ConsoleDisplayTableRow(params object[] cells) : this()
         {
-            Cells = new List<string>(cells);
+            Cells = new List<object>(cells);
         }
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Framework/Console/ConsoleUtil.cs b/OpenSim/Framework/Console/ConsoleUtil.cs
index 16a63e0..dff956a 100644
--- a/OpenSim/Framework/Console/ConsoleUtil.cs
+++ b/OpenSim/Framework/Console/ConsoleUtil.cs
@@ -97,7 +97,7 @@ namespace OpenSim.Framework.Console
             if (!UUID.TryParse(rawUuid, out uuid))
             {
                 if (console != null)
-                    console.OutputFormat("{0} is not a valid uuid", rawUuid);
+                    console.OutputFormat("ERROR: {0} is not a valid uuid", rawUuid);
 
                 return false;
             }
@@ -110,7 +110,7 @@ namespace OpenSim.Framework.Console
             if (!uint.TryParse(rawLocalId, out localId))
             {
                 if (console != null)
-                    console.OutputFormat("{0} is not a valid local id", localId);
+                    console.OutputFormat("ERROR: {0} is not a valid local id", localId);
 
                 return false;
             }
@@ -118,7 +118,7 @@ namespace OpenSim.Framework.Console
             if (localId == 0)
             {
                 if (console != null)
-                    console.OutputFormat("{0} is not a valid local id - it must be greater than 0", localId);
+                    console.OutputFormat("ERROR: {0} is not a valid local id - it must be greater than 0", localId);
 
                 return false;
             }
@@ -150,10 +150,30 @@ namespace OpenSim.Framework.Console
             }
 
             if (console != null)
-                console.OutputFormat("{0} is not a valid UUID or local id", rawId);
+                console.OutputFormat("ERROR: {0} is not a valid UUID or local id", rawId);
 
             return false;
         }
+
+        /// <summary>
+        /// Convert a minimum vector input from the console to an OpenMetaverse.Vector3
+        /// </summary>
+        /// <param name='console'>Can be null if no console is available.</param>
+        /// <param name='rawConsoleVector'>/param>
+        /// <param name='vector'></param>
+        /// <returns></returns>
+        public static bool TryParseConsoleInt(ICommandConsole console, string rawConsoleInt, out int i)
+        {
+            if (!int.TryParse(rawConsoleInt, out i))
+            {
+                if (console != null)
+                    console.OutputFormat("ERROR: {0} is not a valid integer", rawConsoleInt);
+
+                return false;
+            }
+
+            return true;
+        }
     
         /// <summary>
         /// Convert a minimum vector input from the console to an OpenMetaverse.Vector3
diff --git a/OpenSim/Framework/DAMap.cs b/OpenSim/Framework/DAMap.cs
new file mode 100644
index 0000000..64cea77
--- /dev/null
+++ b/OpenSim/Framework/DAMap.cs
@@ -0,0 +1,273 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.IO;
+using System.Text;
+using System.Xml;
+using System.Xml.Schema;
+using System.Xml.Serialization;
+using OpenMetaverse;
+using OpenMetaverse.StructuredData;
+
+namespace OpenSim.Framework
+{
+    /// <summary>
+    /// This class stores and retrieves dynamic attributes.
+    /// </summary>
+    /// <remarks>
+    /// Modules that want to use dynamic attributes need to do so in a private data store
+    /// which is accessed using a unique name. DAMap provides access to the data stores,
+    /// each of which is an OSDMap. Modules are free to store any type of data they want
+    /// within their data store. However, avoid storing large amounts of data because that
+    /// would slow down database access.
+    /// </remarks>
+    public class DAMap : IDictionary<string, OSDMap>, IXmlSerializable
+    {
+        private static readonly int MIN_STORE_NAME_LENGTH = 4;
+
+        protected OSDMap m_map;
+        
+        public DAMap() { m_map = new OSDMap(); }
+        
+        public XmlSchema GetSchema() { return null; } 
+
+        public static DAMap FromXml(string rawXml)
+        {
+            DAMap map = new DAMap();
+            map.ReadXml(rawXml);
+            return map;
+        }
+        
+        public void ReadXml(string rawXml)
+        {            
+            // System.Console.WriteLine("Trying to deserialize [{0}]", rawXml);
+            
+            lock (this)
+                m_map = (OSDMap)OSDParser.DeserializeLLSDXml(rawXml);         
+        }
+        
+        // WARNING: this is temporary for experimentation only, it will be removed!!!!
+        public OSDMap TopLevelMap
+        {
+            get { return m_map; }
+            set { m_map = value; }
+        }
+        
+
+        public void ReadXml(XmlReader reader)
+        { 
+            ReadXml(reader.ReadInnerXml());            
+        }
+        
+        public string ToXml()
+        {
+            lock (this)
+                return OSDParser.SerializeLLSDXmlString(m_map);
+        }
+
+        public void WriteXml(XmlWriter writer)
+        {
+            writer.WriteRaw(ToXml());
+        }
+        
+        public void CopyFrom(DAMap other)
+        {
+            // Deep copy
+            
+            string data = null;
+            lock (other)
+            {
+                if (other.Count > 0)
+                {
+                    data = OSDParser.SerializeLLSDXmlString(other.m_map);
+                }
+            }
+            
+            lock (this)
+            {
+                if (data == null)
+                    Clear();
+                else
+                    m_map = (OSDMap)OSDParser.DeserializeLLSDXml(data);
+            }
+        }
+
+        /// <summary>
+        /// Returns the number of data stores.
+        /// </summary>
+        public int Count { get { lock (this) { return m_map.Count; } } }
+        
+        public bool IsReadOnly { get { return false; } }
+        
+        /// <summary>
+        /// Returns the names of the data stores.
+        /// </summary>
+        public ICollection<string> Keys { get { lock (this) { return m_map.Keys; } } }
+
+        /// <summary>
+        /// Returns all the data stores.
+        /// </summary>
+        public ICollection<OSDMap> Values
+        {
+            get
+            {
+                lock (this)
+                {
+                    List<OSDMap> stores = new List<OSDMap>(m_map.Count);
+                    foreach (OSD llsd in m_map.Values)
+                        stores.Add((OSDMap)llsd);
+                    return stores;
+                }
+            }
+        }
+        
+        /// <summary>
+        /// Gets or sets one data store.
+        /// </summary>
+        /// <param name="key">Store name</param>
+        /// <returns></returns>
+        public OSDMap this[string key] 
+        {    
+            get  
+            {                    
+                OSD llsd;
+                
+                lock (this)
+                {
+                    if (m_map.TryGetValue(key, out llsd))
+                        return (OSDMap)llsd;
+                    else 
+                        return null;
+                }
+            }    
+            
+            set
+            {
+                ValidateKey(key);
+                lock (this)
+                    m_map[key] = value;
+            }
+        }
+
+        /// <summary>
+        /// Validate the key used for storing separate data stores.
+        /// </summary>
+        /// <param name='key'></param>
+        private static void ValidateKey(string key)
+        {
+            if (key.Length < MIN_STORE_NAME_LENGTH)
+                throw new Exception("Minimum store name length is " + MIN_STORE_NAME_LENGTH);
+        }
+
+        public bool ContainsKey(string key) 
+        {    
+            lock (this)
+                return m_map.ContainsKey(key);
+        }    
+
+        public void Add(string key, OSDMap store)
+        {
+            ValidateKey(key);
+            lock (this)
+                m_map.Add(key, store);
+        }    
+
+        public void Add(KeyValuePair<string, OSDMap> kvp) 
+        {   
+            ValidateKey(kvp.Key);
+            lock (this)
+                m_map.Add(kvp.Key, kvp.Value);
+        }    
+
+        public bool Remove(string key) 
+        {    
+            lock (this)
+                return m_map.Remove(key);
+        }    
+
+        public bool TryGetValue(string key, out OSDMap store)
+        {
+            lock (this)
+            {
+                OSD llsd;
+                if (m_map.TryGetValue(key, out llsd))
+                {
+                    store = (OSDMap)llsd;
+                    return true;
+                }
+                else
+                {
+                    store = null;
+                    return false;
+                }
+            }
+        }    
+
+        public void Clear()
+        {
+            lock (this)
+                m_map.Clear();
+        }  
+        
+        public bool Contains(KeyValuePair<string, OSDMap> kvp)
+        {
+            lock (this)
+                return m_map.ContainsKey(kvp.Key);
+        }
+
+        public void CopyTo(KeyValuePair<string, OSDMap>[] array, int index)
+        {
+            throw new NotImplementedException();
+        }
+
+        public bool Remove(KeyValuePair<string, OSDMap> kvp)
+        {
+            lock (this)
+                return m_map.Remove(kvp.Key);
+        }
+
+        public System.Collections.IDictionaryEnumerator GetEnumerator()
+        {
+            lock (this)
+                return m_map.GetEnumerator();
+        }
+
+        IEnumerator<KeyValuePair<string, OSDMap>> IEnumerable<KeyValuePair<string, OSDMap>>.GetEnumerator()
+        {
+            return null;
+        }
+
+        IEnumerator IEnumerable.GetEnumerator()
+        {
+            lock (this)
+                return m_map.GetEnumerator();
+        }        
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Framework/DoubleDictionaryThreadAbortSafe.cs b/OpenSim/Framework/DoubleDictionaryThreadAbortSafe.cs
new file mode 100644
index 0000000..9056548
--- /dev/null
+++ b/OpenSim/Framework/DoubleDictionaryThreadAbortSafe.cs
@@ -0,0 +1,508 @@
+/*
+ * Copyright (c) 2008, openmetaverse.org, http://opensimulator.org/
+ * All rights reserved.
+ *
+ * - Redistribution and use in source and binary forms, with or without
+ *   modification, are permitted provided that the following conditions are met:
+ *
+ * - Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ * - Neither the name of the openmetaverse.org nor the names
+ *   of its contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Threading;
+using System.Collections.Generic;
+
+namespace OpenSim.Framework
+{
+    /// <summary>
+    /// A double dictionary that is thread abort safe.
+    /// </summary>
+    /// <remarks>
+    /// This adapts OpenMetaverse.DoubleDictionary to be thread-abort safe by acquiring ReaderWriterLockSlim within
+    /// a finally section (which can't be interrupted by Thread.Abort()).
+    /// </remarks>
+    public class DoubleDictionaryThreadAbortSafe<TKey1, TKey2, TValue>
+    {
+        Dictionary<TKey1, TValue> Dictionary1;
+        Dictionary<TKey2, TValue> Dictionary2;
+        ReaderWriterLockSlim rwLock = new ReaderWriterLockSlim();
+
+        public DoubleDictionaryThreadAbortSafe()
+        {
+            Dictionary1 = new Dictionary<TKey1,TValue>();
+            Dictionary2 = new Dictionary<TKey2,TValue>();
+        }
+
+        public DoubleDictionaryThreadAbortSafe(int capacity)
+        {
+            Dictionary1 = new Dictionary<TKey1, TValue>(capacity);
+            Dictionary2 = new Dictionary<TKey2, TValue>(capacity);
+        }
+
+        public void Add(TKey1 key1, TKey2 key2, TValue value)
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterWriteLock();
+                    gotLock = true;
+                }
+
+                if (Dictionary1.ContainsKey(key1))
+                {
+                    if (!Dictionary2.ContainsKey(key2))
+                        throw new ArgumentException("key1 exists in the dictionary but not key2");
+                }
+                else if (Dictionary2.ContainsKey(key2))
+                {
+                    if (!Dictionary1.ContainsKey(key1))
+                        throw new ArgumentException("key2 exists in the dictionary but not key1");
+                }
+
+                Dictionary1[key1] = value;
+                Dictionary2[key2] = value;
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitWriteLock(); 
+            }
+        }
+
+        public bool Remove(TKey1 key1, TKey2 key2)
+        {
+            bool success;
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterWriteLock();
+                    gotLock = true;
+                }
+
+                Dictionary1.Remove(key1);
+                success = Dictionary2.Remove(key2);
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitWriteLock(); 
+            }
+
+            return success;
+        }
+
+        public bool Remove(TKey1 key1)
+        {
+            bool found = false;
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterWriteLock();
+                    gotLock = true;
+                }
+
+                // This is an O(n) operation!
+                TValue value;
+                if (Dictionary1.TryGetValue(key1, out value))
+                {
+                    foreach (KeyValuePair<TKey2, TValue> kvp in Dictionary2)
+                    {
+                        if (kvp.Value.Equals(value))
+                        {
+                            Dictionary1.Remove(key1);
+                            Dictionary2.Remove(kvp.Key);
+                            found = true;
+                            break;
+                        }
+                    }
+                }
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitWriteLock(); 
+            }
+
+            return found;
+        }
+
+        public bool Remove(TKey2 key2)
+        {
+            bool found = false;
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterWriteLock();
+                    gotLock = true;
+                }
+
+                // This is an O(n) operation!
+                TValue value;
+                if (Dictionary2.TryGetValue(key2, out value))
+                {
+                    foreach (KeyValuePair<TKey1, TValue> kvp in Dictionary1)
+                    {
+                        if (kvp.Value.Equals(value))
+                        {
+                            Dictionary2.Remove(key2);
+                            Dictionary1.Remove(kvp.Key);
+                            found = true;
+                            break;
+                        }
+                    }
+                }
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitWriteLock(); 
+            }
+
+            return found;
+        }
+
+        public void Clear()
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterWriteLock();
+                    gotLock = true;
+                }
+
+                Dictionary1.Clear();
+                Dictionary2.Clear();
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitWriteLock(); 
+            }
+        }
+
+        public int Count
+        {
+            get { return Dictionary1.Count; }
+        }
+
+        public bool ContainsKey(TKey1 key)
+        {
+            return Dictionary1.ContainsKey(key);
+        }
+
+        public bool ContainsKey(TKey2 key)
+        {
+            return Dictionary2.ContainsKey(key);
+        }
+
+        public bool TryGetValue(TKey1 key, out TValue value)
+        {
+            bool success;
+            bool gotLock = false;
+
+            try 
+            { 
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                success = Dictionary1.TryGetValue(key, out value); 
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+
+            return success;
+        }
+
+        public bool TryGetValue(TKey2 key, out TValue value)
+        {
+            bool success;
+            bool gotLock = false;
+
+            try 
+            { 
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                success = Dictionary2.TryGetValue(key, out value); 
+            }
+            finally 
+            {   
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+
+            return success;
+        }
+
+        public void ForEach(Action<TValue> action)
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                foreach (TValue value in Dictionary1.Values)
+                    action(value);
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+        }
+
+        public void ForEach(Action<KeyValuePair<TKey1, TValue>> action)
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                foreach (KeyValuePair<TKey1, TValue> entry in Dictionary1)
+                    action(entry);
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+        }
+
+        public void ForEach(Action<KeyValuePair<TKey2, TValue>> action)
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                foreach (KeyValuePair<TKey2, TValue> entry in Dictionary2)
+                    action(entry);
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+        }
+
+        public TValue FindValue(Predicate<TValue> predicate)
+        {
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                foreach (TValue value in Dictionary1.Values)
+                {
+                    if (predicate(value))
+                        return value;
+                }
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+
+            return default(TValue);
+        }
+
+        public IList<TValue> FindAll(Predicate<TValue> predicate)
+        {
+            IList<TValue> list = new List<TValue>();
+            bool gotLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterReadLock();
+                    gotLock = true;
+                }
+
+                foreach (TValue value in Dictionary1.Values)
+                {
+                    if (predicate(value))
+                        list.Add(value);
+                }
+            }
+            finally 
+            { 
+                if (gotLock)
+                    rwLock.ExitReadLock(); 
+            }
+
+            return list;
+        }
+
+        public int RemoveAll(Predicate<TValue> predicate)
+        {
+            IList<TKey1> list = new List<TKey1>();
+            bool gotUpgradeableLock = false;
+
+            try
+            {
+                // Avoid an asynchronous Thread.Abort() from possibly never existing an acquired lock by placing
+                // the acquision inside the main try.  The inner finally block is needed because thread aborts cannot
+                // interrupt code in these blocks (hence gotLock is guaranteed to be set correctly).
+                try {}            
+                finally
+                {
+                    rwLock.EnterUpgradeableReadLock();
+                    gotUpgradeableLock = true;
+                }
+
+                foreach (KeyValuePair<TKey1, TValue> kvp in Dictionary1)
+                {
+                    if (predicate(kvp.Value))
+                        list.Add(kvp.Key);
+                }
+
+                IList<TKey2> list2 = new List<TKey2>(list.Count);
+                foreach (KeyValuePair<TKey2, TValue> kvp in Dictionary2)
+                {
+                    if (predicate(kvp.Value))
+                        list2.Add(kvp.Key);
+                }
+
+                bool gotWriteLock = false;
+
+                try
+                {
+                    try {}            
+                    finally
+                    {
+                        rwLock.EnterUpgradeableReadLock();
+                        gotWriteLock = true;
+                    }
+
+                    for (int i = 0; i < list.Count; i++)
+                        Dictionary1.Remove(list[i]);
+
+                    for (int i = 0; i < list2.Count; i++)
+                        Dictionary2.Remove(list2[i]);
+                }
+                finally 
+                { 
+                    if (gotWriteLock)
+                        rwLock.ExitWriteLock(); 
+                }
+            }
+            finally 
+            { 
+                if (gotUpgradeableLock)
+                    rwLock.ExitUpgradeableReadLock(); 
+            }
+
+            return list.Count;
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Framework/Monitoring/Properties/AssemblyInfo.cs b/OpenSim/Framework/Monitoring/Properties/AssemblyInfo.cs
index 1f2bb40..bb83db1 100644
--- a/OpenSim/Framework/Monitoring/Properties/AssemblyInfo.cs
+++ b/OpenSim/Framework/Monitoring/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Framework/PluginManager.cs b/OpenSim/Framework/PluginManager.cs
new file mode 100644
index 0000000..00263f5
--- /dev/null
+++ b/OpenSim/Framework/PluginManager.cs
@@ -0,0 +1,563 @@
+
+/*
+ * 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.Text;
+using System.Linq;
+using System.Collections;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using Mono.Addins;
+using Mono.Addins.Setup;
+using Mono.Addins.Description;
+using OpenSim.Framework;
+
+
+namespace OpenSim.Framework
+{
+    /// <summary>
+    /// Manager for registries and plugins
+    /// </summary>
+        public class PluginManager : SetupService
+        {
+                public AddinRegistry PluginRegistry;
+
+                public PluginManager(AddinRegistry registry): base (registry)
+        {
+                        PluginRegistry = registry;
+
+                }
+
+                /// <summary>
+        /// Installs the plugin.
+        /// </summary>
+        /// <returns>
+        /// The plugin.
+        /// </returns>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public bool InstallPlugin(int ndx, out Dictionary<string, object> result)
+        {
+            Dictionary<string, object> res = new Dictionary<string, object>();
+
+            PackageCollection pack = new PackageCollection();
+            PackageCollection toUninstall;
+            DependencyCollection unresolved;
+
+            IProgressStatus ps = new ConsoleProgressStatus(false);
+
+            AddinRepositoryEntry[] available = GetSortedAvailbleAddins();
+
+            if (ndx > (available.Length - 1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                result = res;
+                return false;
+            }
+
+            AddinRepositoryEntry aentry = available[ndx];
+
+            Package p = Package.FromRepository(aentry);
+            pack.Add(p);
+
+            ResolveDependencies(ps, pack, out toUninstall, out unresolved);
+
+            // Attempt to install the plugin disabled
+            if (Install(ps, pack) == true)
+            {
+                MainConsole.Instance.Output("Ignore the following error...");
+                PluginRegistry.Update(ps);
+                Addin addin = PluginRegistry.GetAddin(aentry.Addin.Id);
+                PluginRegistry.DisableAddin(addin.Id);
+                addin.Enabled = false;
+                
+                MainConsole.Instance.Output("Installation Success");
+                ListInstalledAddins(out res);
+                result = res;
+                return true;
+            } 
+            else
+            {                
+                MainConsole.Instance.Output("Installation Failed");
+                result = res;
+                return false;
+            }
+        }
+
+        // Remove plugin
+        /// <summary>
+        /// Uns the install.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void UnInstall(int ndx)
+        {
+            Addin[] addins = GetSortedAddinList("RobustPlugin");
+
+            if (ndx > (addins.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            Addin addin = addins[ndx];
+            MainConsole.Instance.OutputFormat("Uninstalling plugin {0}", addin.Id);
+            AddinManager.Registry.DisableAddin(addin.Id);
+            addin.Enabled = false;
+            IProgressStatus ps = new ConsoleProgressStatus(false);
+            Uninstall(ps, addin.Id);
+            MainConsole.Instance.Output("Uninstall Success - restart to complete operation");
+            return;
+        }
+
+        /// <summary>
+        /// Checks the installed.
+        /// </summary>
+        /// <returns>
+        /// The installed.
+        /// </returns>
+        public string CheckInstalled()
+        {
+            return "CheckInstall";
+        }
+
+        /// <summary>
+        /// Lists the installed addins.
+        /// </summary>
+        /// <param name='result'>
+        /// Result.
+        /// </param>
+        public void ListInstalledAddins(out Dictionary<string, object> result)
+        {
+            Dictionary<string, object> res = new Dictionary<string, object>();
+
+                        Addin[] addins = GetSortedAddinList("RobustPlugin");
+                        if(addins.Count() < 1)
+                        {
+                                MainConsole.Instance.Output("Error!");
+                        }
+            int count = 0;
+            foreach (Addin addin in addins)
+            {
+                Dictionary<string, object> r = new Dictionary<string, object>();
+                r["enabled"] = addin.Enabled == true ? true : false;
+                r["name"] = addin.LocalId;
+                r["version"] = addin.Version;
+
+                res.Add(count.ToString(), r);
+
+                count++;
+            }
+            result = res;
+            return;
+        }
+
+        // List compatible plugins in registered repositories
+        /// <summary>
+        /// Lists the available.
+        /// </summary>
+        /// <param name='result'>
+        /// Result.
+        /// </param>
+        public void ListAvailable(out Dictionary<string, object> result)
+        {
+            Dictionary<string, object> res = new Dictionary<string, object>();
+
+            AddinRepositoryEntry[] addins = GetSortedAvailbleAddins();
+
+            int count = 0;
+            foreach (AddinRepositoryEntry addin in addins)
+            {
+                Dictionary<string, object> r = new Dictionary<string, object>();
+                r["name"] = addin.Addin.Name;
+                r["version"] = addin.Addin.Version;
+                r["repository"] = addin.RepositoryName;
+
+                res.Add(count.ToString(), r);
+                count++;
+            }
+            result = res;
+            return;
+        }
+
+        // List available updates ** 1
+        /// <summary>
+        /// Lists the updates.
+        /// </summary>
+        public void ListUpdates()
+        {
+            IProgressStatus ps = new ConsoleProgressStatus(true);
+            Console.WriteLine ("Looking for updates...");
+            Repositories.UpdateAllRepositories (ps);
+            Console.WriteLine ("Available add-in updates:");
+            bool found = false;
+            AddinRepositoryEntry[] entries = Repositories.GetAvailableUpdates();
+
+            foreach (AddinRepositoryEntry entry in entries)
+            {
+                Console.WriteLine(String.Format("{0}",entry.Addin.Id));
+            }
+        }
+
+        // Sync to repositories
+        /// <summary>
+        /// Update this instance.
+        /// </summary>
+        public string Update()
+        {
+            IProgressStatus ps = new ConsoleProgressStatus(true);
+            Repositories.UpdateAllRepositories(ps);
+            return "Update";
+        }
+
+        // Register a repository
+        /// <summary>
+        /// Register a repository with our server.
+        /// </summary>
+        /// <returns>
+        /// result of the action
+        /// </returns>
+        /// <param name='repo'>
+        /// The URL of the repository we want to add
+        /// </param>
+        public bool AddRepository(string repo)
+        {
+            Repositories.RegisterRepository(null, repo, true);
+            PluginRegistry.Rebuild(null);
+
+            return true;
+        }
+
+        /// <summary>
+        /// Gets the repository.
+        /// </summary>
+        public void GetRepository()
+        {
+            Repositories.UpdateAllRepositories(new ConsoleProgressStatus(false));
+        }
+
+        // Remove a repository from the list
+        /// <summary>
+        /// Removes the repository.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void RemoveRepository(string[] args)
+        {
+            AddinRepository[] reps = Repositories.GetRepositories();
+            Array.Sort(reps, (r1,r2) => r1.Title.CompareTo(r2.Title));
+            if (reps.Length == 0)
+            {
+                MainConsole.Instance.Output("No repositories have been registered.");
+                return;
+            }
+
+            int n = Convert.ToInt16(args[2]);
+            if (n > (reps.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            AddinRepository rep = reps[n];
+            Repositories.RemoveRepository(rep.Url);
+            return;
+        }
+
+        // Enable repository
+        /// <summary>
+        /// Enables the repository.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void EnableRepository(string[] args)
+        {
+            AddinRepository[] reps = Repositories.GetRepositories();
+            Array.Sort(reps, (r1,r2) => r1.Title.CompareTo(r2.Title));
+            if (reps.Length == 0)
+            {
+                MainConsole.Instance.Output("No repositories have been registered.");
+                return;
+            }
+
+            int n = Convert.ToInt16(args[2]);
+            if (n > (reps.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            AddinRepository rep = reps[n];
+            Repositories.SetRepositoryEnabled(rep.Url, true);
+            return;
+        }
+
+        // Disable a repository
+        /// <summary>
+        /// Disables the repository.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void DisableRepository(string[] args)
+        {
+            AddinRepository[] reps = Repositories.GetRepositories();
+            Array.Sort(reps, (r1,r2) => r1.Title.CompareTo(r2.Title));
+            if (reps.Length == 0)
+            {
+                MainConsole.Instance.Output("No repositories have been registered.");
+                return;
+            }
+
+            int n = Convert.ToInt16(args[2]);
+            if (n > (reps.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            AddinRepository rep = reps[n];
+            Repositories.SetRepositoryEnabled(rep.Url, false);
+            return;
+        }
+
+        // List registered repositories
+        /// <summary>
+        /// Lists the repositories.
+        /// </summary>
+        /// <param name='result'>
+        /// Result.
+        /// </param>
+        public void ListRepositories(out Dictionary<string, object> result)
+        {
+            Dictionary<string, object> res = new Dictionary<string, object>();
+            result = res;
+
+            AddinRepository[] reps = GetSortedAddinRepo();
+            if (reps.Length == 0)
+            {
+                MainConsole.Instance.Output("No repositories have been registered.");
+                return;
+            }
+
+            int count = 0;
+            foreach (AddinRepository rep in reps)
+            {
+                Dictionary<string, object> r = new Dictionary<string, object>();
+                r["enabled"] = rep.Enabled == true ? true : false;
+                r["name"] = rep.Name;
+                r["url"] = rep.Url;
+                
+                res.Add(count.ToString(), r);
+                count++;
+            }
+            return;
+        }
+
+        /// <summary>
+        /// Updates the registry.
+        /// </summary>
+        public void UpdateRegistry()
+        {
+            PluginRegistry.Update();
+        }
+
+        // Show plugin info
+        /// <summary>
+        /// Addins the info.
+        /// </summary>
+        /// <returns>
+        /// The info.
+        /// </returns>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public bool AddinInfo(int ndx, out Dictionary<string, object> result)
+        {
+            Dictionary<string, object> res = new Dictionary<string, object>();
+            result = res;
+
+            Addin[] addins = GetSortedAddinList("RobustPlugin");
+
+            if (ndx > (addins.Length - 1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return false;
+            }
+            // author category description
+            Addin addin = addins[ndx];
+
+            res["author"] = addin.Description.Author;
+            res["category"] = addin.Description.Category;
+            res["description"] = addin.Description.Description;
+            res["name"] = addin.Name;
+            res["url"] = addin.Description.Url;
+            res["file_name"] = addin.Description.FileName;
+
+            result = res;
+            return true;
+        }
+
+        // Disable a plugin
+        /// <summary>
+        /// Disables the plugin.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void DisablePlugin(string[] args)
+        {
+            Addin[] addins = GetSortedAddinList("RobustPlugin");
+
+            int n = Convert.ToInt16(args[2]);
+            if (n > (addins.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            Addin addin = addins[n];
+            AddinManager.Registry.DisableAddin(addin.Id);
+            addin.Enabled = false;
+            return;
+        }
+
+        // Enable plugin
+        /// <summary>
+        /// Enables the plugin.
+        /// </summary>
+        /// <param name='args'>
+        /// Arguments.
+        /// </param>
+        public void EnablePlugin(string[] args)
+        {
+            Addin[] addins = GetSortedAddinList("RobustPlugin");
+
+            int n = Convert.ToInt16(args[2]);
+            if (n > (addins.Length -1))
+            {
+                MainConsole.Instance.Output("Selection out of range");
+                return;
+            }
+
+            Addin addin = addins[n];
+
+            addin.Enabled = true;
+            AddinManager.Registry.EnableAddin(addin.Id);
+            // AddinManager.Registry.Update();
+            if(PluginRegistry.IsAddinEnabled(addin.Id))
+            {
+                ConsoleProgressStatus ps = new ConsoleProgressStatus(false);
+                if (!AddinManager.AddinEngine.IsAddinLoaded(addin.Id))
+                {
+                    MainConsole.Instance.Output("Ignore the following error...");
+                    AddinManager.Registry.Rebuild(ps);
+                    AddinManager.AddinEngine.LoadAddin(ps, addin.Id);
+                }
+            }
+            else
+            {
+                MainConsole.Instance.OutputFormat("Not Enabled in this domain {0}", addin.Name);
+            }
+            return;
+        }
+
+
+                
+        #region Util
+        private void Testing()
+        {
+            Addin[] list = Registry.GetAddins();
+
+            var addins = list.Where( a => a.Description.Category == "RobustPlugin");
+
+            foreach (Addin addin in addins)
+            {
+                MainConsole.Instance.OutputFormat("Addin {0}", addin.Name);
+            }
+        }
+
+        // These will let us deal with numbered lists instead
+        // of needing to type in the full ids
+        private AddinRepositoryEntry[] GetSortedAvailbleAddins()
+        {
+            ArrayList list = new ArrayList();
+            list.AddRange(Repositories.GetAvailableAddins());
+
+            AddinRepositoryEntry[] addins = list.ToArray(typeof(AddinRepositoryEntry)) as AddinRepositoryEntry[];
+
+            Array.Sort(addins,(r1,r2) => r1.Addin.Id.CompareTo(r2.Addin.Id));
+
+            return addins;
+        }
+
+        private AddinRepository[] GetSortedAddinRepo()
+        {
+            ArrayList list = new ArrayList();
+            list.AddRange(Repositories.GetRepositories());
+
+            AddinRepository[] repos = list.ToArray(typeof(AddinRepository)) as AddinRepository[];
+            Array.Sort (repos,(r1,r2) => r1.Name.CompareTo(r2.Name));
+
+            return repos;
+        }
+
+        private Addin[] GetSortedAddinList(string category)
+        {
+
+            ArrayList xlist = new ArrayList();
+            ArrayList list = new ArrayList();
+                        try 
+                        {
+                list.AddRange(PluginRegistry.GetAddins());
+                        }
+                        catch(Exception e)
+                        {
+                                Addin[] x = xlist.ToArray(typeof(Addin)) as Addin[];
+                                return x;
+                        }
+
+            foreach (Addin addin in list)
+            {
+                if (addin.Description.Category == category)
+                    xlist.Add(addin);
+            }
+
+            Addin[] addins = xlist.ToArray(typeof(Addin)) as Addin[];
+            Array.Sort(addins,(r1,r2) => r1.Id.CompareTo(r2.Id));
+
+            return addins;
+        }
+        #endregion Util
+        }
+}
diff --git a/OpenSim/Framework/PrimitiveBaseShape.cs b/OpenSim/Framework/PrimitiveBaseShape.cs
index fcc9873..df928dc 100644
--- a/OpenSim/Framework/PrimitiveBaseShape.cs
+++ b/OpenSim/Framework/PrimitiveBaseShape.cs
@@ -192,18 +192,7 @@ namespace OpenSim.Framework
 
         public PrimitiveBaseShape()
         {
-            PCode = (byte) PCodeEnum.Primitive;
-            ExtraParams = new byte[1];
-            m_textureEntry = DEFAULT_TEXTURE;
-        }
-
-        public PrimitiveBaseShape(bool noShape)
-        {
-            if (noShape)
-                return;
-
             PCode = (byte)PCodeEnum.Primitive;
-            ExtraParams = new byte[1];
             m_textureEntry = DEFAULT_TEXTURE;
         }
 
@@ -216,7 +205,6 @@ namespace OpenSim.Framework
 //            m_log.DebugFormat("[PRIMITIVE BASE SHAPE]: Creating from {0}", prim.ID);
 
             PCode = (byte)prim.PrimData.PCode;
-            ExtraParams = new byte[1];
 
             State = prim.PrimData.State;
             PathBegin = Primitive.PackBeginCut(prim.PrimData.PathBegin);
@@ -248,7 +236,10 @@ namespace OpenSim.Framework
                 SculptTexture = prim.Sculpt.SculptTexture;
                 SculptType = (byte)prim.Sculpt.Type;
             }
-            else SculptType = (byte)OpenMetaverse.SculptType.None;
+            else 
+            {  
+                SculptType = (byte)OpenMetaverse.SculptType.None;
+            }
         }
 
         [XmlIgnore]
@@ -340,9 +331,9 @@ namespace OpenSim.Framework
             _scale = new Vector3(side, side, side);
         }
 
-        public void SetHeigth(float heigth)
+        public void SetHeigth(float height)
         {
-            _scale.Z = heigth;
+            _scale.Z = height;
         }
 
         public void SetRadius(float radius)
@@ -631,6 +622,8 @@ namespace OpenSim.Framework
             }
         }
 
+        // This is only used at runtime. For sculpties this holds the texture data, and for meshes
+        // the mesh data.
         public byte[] SculptData
         {
             get
@@ -1184,14 +1177,13 @@ namespace OpenSim.Framework
 
         public void ReadSculptData(byte[] data, int pos)
         {
-            byte[] SculptTextureUUID = new byte[16];
-            UUID SculptUUID = UUID.Zero;
-            byte SculptTypel = data[16+pos];
+            UUID SculptUUID;
+            byte SculptTypel;
 
-            if (data.Length+pos >= 17)
+            if (data.Length-pos >= 17)
             {
                 _sculptEntry = true;
-                SculptTextureUUID = new byte[16];
+                byte[] SculptTextureUUID = new byte[16];
                 SculptTypel = data[16 + pos];
                 Array.Copy(data, pos, SculptTextureUUID,0, 16);
                 SculptUUID = new UUID(SculptTextureUUID, 0);
diff --git a/OpenSim/Framework/RegionInfo.cs b/OpenSim/Framework/RegionInfo.cs
index e7bed6a..6dde62f 100644
--- a/OpenSim/Framework/RegionInfo.cs
+++ b/OpenSim/Framework/RegionInfo.cs
@@ -145,6 +145,7 @@ namespace OpenSim.Framework
         public UUID RegionID = UUID.Zero;
         public string RemotingAddress;
         public UUID ScopeID = UUID.Zero;
+        private UUID m_maptileStaticUUID = UUID.Zero;
 
         private Dictionary<String, String> m_otherSettings = new Dictionary<string, string>();
 
@@ -340,6 +341,11 @@ namespace OpenSim.Framework
             get { return m_regionType; }
         }
 
+        public UUID MaptileStaticUUID
+        {
+            get { return m_maptileStaticUUID; }
+        }
+        
         /// <summary>
         /// The port by which http communication occurs with the region (most noticeably, CAPS communication)
         /// </summary>
@@ -643,7 +649,7 @@ namespace OpenSim.Framework
             m_regionType = config.GetString("RegionType", String.Empty);
             allKeys.Remove("RegionType");
 
-            #region Prim stuff
+            #region Prim and map stuff
 
             m_nonphysPrimMin = config.GetFloat("NonPhysicalPrimMin", 0);
             allKeys.Remove("NonPhysicalPrimMin");
@@ -665,6 +671,13 @@ namespace OpenSim.Framework
 
             m_linksetCapacity = config.GetInt("LinksetPrims", 0);
             allKeys.Remove("LinksetPrims");
+
+            allKeys.Remove("MaptileStaticUUID");
+            string mapTileStaticUUID = config.GetString("MaptileStaticUUID", UUID.Zero.ToString());
+            if (UUID.TryParse(mapTileStaticUUID.Trim(), out m_maptileStaticUUID))
+            {
+                config.Set("MaptileStaticUUID", m_maptileStaticUUID.ToString()); 
+            }
             
             #endregion
 
@@ -734,6 +747,9 @@ namespace OpenSim.Framework
 
             if (RegionType != String.Empty)
                 config.Set("RegionType", RegionType);
+
+            if (m_maptileStaticUUID != UUID.Zero)
+                config.Set("MaptileStaticUUID", m_maptileStaticUUID.ToString());
         }
 
         public bool ignoreIncomingConfiguration(string configuration_key, object configuration_result)
@@ -832,6 +848,9 @@ namespace OpenSim.Framework
 
             configMember.addConfigurationOption("region_type", ConfigurationOption.ConfigurationTypes.TYPE_STRING,
                                                 "Free form string describing the type of region", String.Empty, true);
+            
+            configMember.addConfigurationOption("region_static_maptile", ConfigurationOption.ConfigurationTypes.TYPE_UUID,
+                                                "UUID of a texture to use as the map for this region", m_maptileStaticUUID.ToString(), true);
         }
 
         public void loadConfigurationOptions()
@@ -885,6 +904,9 @@ namespace OpenSim.Framework
 
             configMember.addConfigurationOption("region_type", ConfigurationOption.ConfigurationTypes.TYPE_STRING,
                                                 "Region Type", String.Empty, true);
+
+            configMember.addConfigurationOption("region_static_maptile", ConfigurationOption.ConfigurationTypes.TYPE_UUID,
+                                                "UUID of a texture to use as the map for this region", String.Empty, true);
         }
 
         public bool handleIncomingConfiguration(string configuration_key, object configuration_result)
@@ -957,6 +979,9 @@ namespace OpenSim.Framework
                 case "region_type":
                     m_regionType = (string)configuration_result;
                     break;
+                case "region_static_maptile":
+                    m_maptileStaticUUID = (UUID)configuration_result;
+                    break;
             }
 
             return true;
diff --git a/OpenSim/Framework/RegionLoader/Filesystem/Properties/AssemblyInfo.cs b/OpenSim/Framework/RegionLoader/Filesystem/Properties/AssemblyInfo.cs
index d670f2f..f836350 100644
--- a/OpenSim/Framework/RegionLoader/Filesystem/Properties/AssemblyInfo.cs
+++ b/OpenSim/Framework/RegionLoader/Filesystem/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Framework/RegionLoader/Web/Properties/AssemblyInfo.cs b/OpenSim/Framework/RegionLoader/Web/Properties/AssemblyInfo.cs
index 7309a12..72fa679 100644
--- a/OpenSim/Framework/RegionLoader/Web/Properties/AssemblyInfo.cs
+++ b/OpenSim/Framework/RegionLoader/Web/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Framework/Serialization/ArchiveConstants.cs b/OpenSim/Framework/Serialization/ArchiveConstants.cs
index 48f1c4f..0c12787 100644
--- a/OpenSim/Framework/Serialization/ArchiveConstants.cs
+++ b/OpenSim/Framework/Serialization/ArchiveConstants.cs
@@ -154,6 +154,11 @@ namespace OpenSim.Framework.Serialization
             EXTENSION_TO_ASSET_TYPE[ASSET_EXTENSION_SEPARATOR + "trashfolder.txt"]          = (sbyte)AssetType.TrashFolder;
         }
 
+        public static string CreateOarLandDataPath(LandData ld)
+        {
+            return string.Format("{0}{1}.xml", ArchiveConstants.LANDDATA_PATH, ld.GlobalID);
+        }
+
         /// <summary>
         /// Create the filename used to store an object in an OpenSim Archive.
         /// </summary>
diff --git a/OpenSim/Framework/Serialization/Properties/AssemblyInfo.cs b/OpenSim/Framework/Serialization/Properties/AssemblyInfo.cs
index 11efa4b..7a122da 100644
--- a/OpenSim/Framework/Serialization/Properties/AssemblyInfo.cs
+++ b/OpenSim/Framework/Serialization/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Framework/Serialization/Tests/LandDataSerializerTests.cs b/OpenSim/Framework/Serialization/Tests/LandDataSerializerTests.cs
index 8b9756b..ea100ee 100644
--- a/OpenSim/Framework/Serialization/Tests/LandDataSerializerTests.cs
+++ b/OpenSim/Framework/Serialization/Tests/LandDataSerializerTests.cs
@@ -37,7 +37,7 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Framework.Serialization.Tests
 {
     [TestFixture]
-    public class LandDataSerializerTest
+    public class LandDataSerializerTest : OpenSimTestCase
     {
         private LandData land;
         private LandData landWithParcelAccessList;
diff --git a/OpenSim/Framework/Serialization/Tests/RegionSettingsSerializerTests.cs b/OpenSim/Framework/Serialization/Tests/RegionSettingsSerializerTests.cs
index 09b6f6d..142726b 100644
--- a/OpenSim/Framework/Serialization/Tests/RegionSettingsSerializerTests.cs
+++ b/OpenSim/Framework/Serialization/Tests/RegionSettingsSerializerTests.cs
@@ -37,7 +37,7 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Framework.Serialization.Tests
 {
     [TestFixture]
-    public class RegionSettingsSerializerTests
+    public class RegionSettingsSerializerTests : OpenSimTestCase
     {
         private string m_serializedRs = @"<?xml version=""1.0"" encoding=""utf-16""?>
 <RegionSettings>
diff --git a/OpenSim/Framework/Servers/BaseOpenSimServer.cs b/OpenSim/Framework/Servers/BaseOpenSimServer.cs
index 2c21800..cb47cbf 100644
--- a/OpenSim/Framework/Servers/BaseOpenSimServer.cs
+++ b/OpenSim/Framework/Servers/BaseOpenSimServer.cs
@@ -27,7 +27,6 @@
 
 using System;
 using System.Collections.Generic;
-using System.Diagnostics;
 using System.IO;
 using System.Reflection;
 using System.Text;
@@ -99,34 +98,6 @@ namespace OpenSim.Framework.Servers
             m_console.Commands.AddCommand("General", false, "shutdown",
                     "shutdown",
                     "Quit the application", HandleQuit);
-
-            m_console.Commands.AddCommand("General", false, "show threads",
-                    "show threads",
-                    "Show thread status", HandleShow);
-
-            m_console.Commands.AddCommand("General", false, "show version",
-                    "show version",
-                    "Show server version", HandleShow);
-
-            m_console.Commands.AddCommand("General", false, "threads abort",
-                    "threads abort <thread-id>",
-                    "Abort a managed thread.  Use \"show threads\" to find possible threads.", HandleThreadsAbort);
-
-            m_console.Commands.AddCommand("General", false, "threads show",
-                    "threads show",
-                    "Show thread status.  Synonym for \"show threads\"",
-                    (string module, string[] args) => Notice(GetThreadsReport()));
-
-            m_console.Commands.AddCommand("General", false, "force gc",
-                    "force gc",
-                    "Manually invoke runtime garbage collection.  For debugging purposes",
-                    HandleForceGc);
-        }
-
-        private void HandleForceGc(string module, string[] args)
-        {
-            MainConsole.Instance.Output("Manually invoking runtime garbage collection");
-            GC.Collect();
         }
         
         /// <summary>
@@ -159,54 +130,6 @@ namespace OpenSim.Framework.Servers
         }
 
         /// <summary>
-        /// Get a report about the registered threads in this server.
-        /// </summary>
-        protected string GetThreadsReport()
-        {
-            // This should be a constant field.
-            string reportFormat = "{0,6}   {1,35}   {2,16}   {3,13}   {4,10}   {5,30}";
-
-            StringBuilder sb = new StringBuilder();
-            Watchdog.ThreadWatchdogInfo[] threads = Watchdog.GetThreadsInfo();
-
-            sb.Append(threads.Length + " threads are being tracked:" + Environment.NewLine);
-
-            int timeNow = Environment.TickCount & Int32.MaxValue;
-
-            sb.AppendFormat(reportFormat, "ID", "NAME", "LAST UPDATE (MS)", "LIFETIME (MS)", "PRIORITY", "STATE");
-            sb.Append(Environment.NewLine);
-
-            foreach (Watchdog.ThreadWatchdogInfo twi in threads)
-            {
-                Thread t = twi.Thread;
-                
-                sb.AppendFormat(
-                    reportFormat,
-                    t.ManagedThreadId,
-                    t.Name,
-                    timeNow - twi.LastTick,
-                    timeNow - twi.FirstTick,
-                    t.Priority,
-                    t.ThreadState);
-
-                sb.Append("\n");
-            }
-
-            sb.Append("\n");
-
-            // For some reason mono 2.6.7 returns an empty threads set!  Not going to confuse people by reporting
-            // zero active threads.
-            int totalThreads = Process.GetCurrentProcess().Threads.Count;
-            if (totalThreads > 0)
-                sb.AppendFormat("Total threads active: {0}\n\n", totalThreads);
-
-            sb.Append("Main threadpool (excluding script engine pools)\n");
-            sb.Append(Util.GetThreadPoolReport());
-
-            return sb.ToString();
-        }
-
-        /// <summary>
         /// Performs initialisation of the scene, such as loading configuration from disk.
         /// </summary>
         public virtual void Startup()
@@ -246,50 +169,7 @@ namespace OpenSim.Framework.Servers
         private void HandleQuit(string module, string[] args)
         {
             Shutdown();
-        }
-
-        public override void HandleShow(string module, string[] cmd)
-        {
-            base.HandleShow(module, cmd);
-
-            List<string> args = new List<string>(cmd);
-
-            args.RemoveAt(0);
-
-            string[] showParams = args.ToArray();
-
-            switch (showParams[0])
-            {
-                case "threads":
-                    Notice(GetThreadsReport());
-                    break;
-
-                case "version":
-                    Notice(GetVersionText());
-                    break;
-            }
-        }
-
-        public virtual void HandleThreadsAbort(string module, string[] cmd)
-        {
-            if (cmd.Length != 3)
-            {
-                MainConsole.Instance.Output("Usage: threads abort <thread-id>");
-                return;
-            }
-
-            int threadId;
-            if (!int.TryParse(cmd[2], out threadId))
-            {
-                MainConsole.Instance.Output("ERROR: Thread id must be an integer");
-                return;
-            }
-
-            if (Watchdog.AbortThread(threadId))
-                MainConsole.Instance.OutputFormat("Aborted thread with id {0}", threadId);
-            else
-                MainConsole.Instance.OutputFormat("ERROR - Thread with id {0} not found in managed threads", threadId);
-        }       
+        }      
         
         public string osSecret {
             // Secret uuid for the simulator
diff --git a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
index 77fce9e..27af009 100644
--- a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
+++ b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
@@ -54,6 +54,16 @@ namespace OpenSim.Framework.Servers.HttpServer
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         private HttpServerLogWriter httpserverlog = new HttpServerLogWriter();
 
+
+        /// <summary>
+        /// This is a pending websocket request before it got an sucessful upgrade response.
+        /// The consumer must call handler.HandshakeAndUpgrade() to signal to the handler to 
+        /// start the connection and optionally provide an origin authentication method.
+        /// </summary>
+        /// <param name="servicepath"></param>
+        /// <param name="handler"></param>
+        public delegate void WebSocketRequestDelegate(string servicepath, WebSocketHttpServerHandler handler);
+
         /// <summary>
         /// Gets or sets the debug level.
         /// </summary>
@@ -77,6 +87,7 @@ 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>();
@@ -86,6 +97,9 @@ namespace OpenSim.Framework.Servers.HttpServer
         protected Dictionary<string, PollServiceEventArgs> m_pollHandlers =
             new Dictionary<string, PollServiceEventArgs>();
 
+        protected Dictionary<string, WebSocketRequestDelegate> m_WebSocketHandlers =
+            new Dictionary<string, WebSocketRequestDelegate>(); 
+
         protected uint m_port;
         protected uint m_sslport;
         protected bool m_ssl;
@@ -169,6 +183,22 @@ namespace OpenSim.Framework.Servers.HttpServer
             }
         }
 
+        public void AddWebSocketHandler(string servicepath, WebSocketRequestDelegate handler)
+        {
+            lock (m_WebSocketHandlers)
+            {
+                if (!m_WebSocketHandlers.ContainsKey(servicepath))
+                    m_WebSocketHandlers.Add(servicepath, handler);
+            }
+        }
+
+        public void RemoveWebSocketHandler(string servicepath)
+        {
+            lock (m_WebSocketHandlers)
+                if (m_WebSocketHandlers.ContainsKey(servicepath))
+                    m_WebSocketHandlers.Remove(servicepath);
+        }
+
         public List<string> GetStreamHandlerKeys()
         {
             lock (m_streamHandlers)
@@ -217,6 +247,37 @@ 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);
@@ -378,9 +439,24 @@ namespace OpenSim.Framework.Servers.HttpServer
 
         public void OnHandleRequestIOThread(IHttpClientContext context, IHttpRequest request)
         {
+
             OSHttpRequest req = new OSHttpRequest(context, request);
+            WebSocketRequestDelegate dWebSocketRequestDelegate = null;
+            lock (m_WebSocketHandlers)
+            {
+                if (m_WebSocketHandlers.ContainsKey(req.RawUrl))
+                    dWebSocketRequestDelegate = m_WebSocketHandlers[req.RawUrl];
+            }
+            if (dWebSocketRequestDelegate != null)
+            {
+                dWebSocketRequestDelegate(req.Url.AbsolutePath, new WebSocketHttpServerHandler(req, context, 8192));
+                return;
+            }
+            
             OSHttpResponse resp = new OSHttpResponse(new HttpResponse(context, request),context);
+            
             HandleRequest(req, resp);
+           
 
             // !!!HACK ALERT!!!
             // There seems to be a bug in the underlying http code that makes subsequent requests
@@ -437,7 +513,7 @@ namespace OpenSim.Framework.Servers.HttpServer
 //                    reqnum = String.Format("{0}:{1}",request.RemoteIPEndPoint,request.Headers["opensim-request-id"]);
                  //m_log.DebugFormat("[BASE HTTP SERVER]: <{0}> handle request for {1}",reqnum,request.RawUrl);
 
-                Thread.CurrentThread.CurrentCulture = new CultureInfo("en-US", true);
+                Culture.SetCurrentCulture();
 
 //                //  This is the REST agent interface. We require an agent to properly identify
 //                //  itself. If the REST handler recognizes the prefix it will attempt to
@@ -469,7 +545,7 @@ namespace OpenSim.Framework.Servers.HttpServer
                         LogIncomingToStreamHandler(request, requestHandler);
 
                     response.ContentType = requestHandler.ContentType; // Lets do this defaulting before in case handler has varying content type.
-
+                    
                     if (requestHandler is IStreamedRequestHandler)
                     {
                         IStreamedRequestHandler streamedRequestHandler = requestHandler as IStreamedRequestHandler;
@@ -557,10 +633,18 @@ 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 +1070,93 @@ namespace OpenSim.Framework.Servers.HttpServer
             return buffer;
         }
 
+        // JsonRpc (v2.0 only) 
+        // Batch requests not yet supported
+        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);
+                        }
+                        bool res = false;
+                        try
+                        {
+                            res = method(jsonRpcRequest, ref jsonRpcResponse);
+                            if(!res)
+                            {
+                                // The handler sent back an unspecified error
+                                if(jsonRpcResponse.Error.Code == 0)
+                                {
+                                    jsonRpcResponse.Error.Code = ErrorCode.InternalError;
+                                }
+                            }
+                        }
+                        catch (Exception e)
+                        {
+                            string ErrorMessage = string.Format("[BASE HTTP SERVER]: Json-Rpc Handler Error method {0} - {1}", methodname, e.Message);
+                            m_log.Error(ErrorMessage);
+                            jsonRpcResponse.Error.Code = ErrorCode.InternalError;
+                            jsonRpcResponse.Error.Message = ErrorMessage;
+                        }
+                    }
+                    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");
@@ -1283,59 +1454,6 @@ namespace OpenSim.Framework.Servers.HttpServer
             map["login"] = OSD.FromString("false");
             return map;
         }
-        /// <summary>
-        /// A specific agent handler was provided. Such a handler is expecetd to have an
-        /// intimate, and highly specific relationship with the client. Consequently,
-        /// nothing is done here.
-        /// </summary>
-        /// <param name="handler"></param>
-        /// <param name="request"></param>
-        /// <param name="response"></param>
-
-        private bool HandleAgentRequest(IHttpAgentHandler handler, OSHttpRequest request, OSHttpResponse response)
-        {
-            // In the case of REST, then handler is responsible for ALL aspects of
-            // the request/response handling. Nothing is done here, not even encoding.
-
-            try
-            {
-                return handler.Handle(request, response);
-            }
-            catch (Exception e)
-            {
-                // If the handler did in fact close the stream, then this will blow
-                // chunks. So that that doesn't disturb anybody we throw away any
-                // and all exceptions raised. We've done our best to release the
-                // client.
-                try
-                {
-                    m_log.Warn("[HTTP-AGENT]: Error - " + e.Message);
-                    response.SendChunked   = false;
-                    response.KeepAlive     = true;
-                    response.StatusCode    = (int)OSHttpStatusCode.ServerErrorInternalError;
-                    //response.OutputStream.Close();
-                    try
-                    {
-                        response.Send();
-                        //response.FreeContext();
-                    }
-                    catch (SocketException f)
-                    {
-                        // This has to be here to prevent a Linux/Mono crash
-                        m_log.Warn(
-                            String.Format("[BASE HTTP SERVER]: XmlRpcRequest issue {0}.\nNOTE: this may be spurious on Linux. ", f.Message), f);
-                    }
-                }
-                catch(Exception)
-                {
-                }
-            }
-
-            // Indicate that the request has been "handled"
-
-            return true;
-
-        }
 
         public byte[] HandleHTTPRequest(OSHttpRequest request, OSHttpResponse response)
         {
@@ -1775,6 +1893,8 @@ namespace OpenSim.Framework.Servers.HttpServer
             HTTPDRunning = false;
             try
             {
+//                m_PollServiceManager.Stop();
+
                 m_httpListener2.ExceptionThrown -= httpServerException;
                 //m_httpListener2.DisconnectHandler = null;
 
diff --git a/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs
index 0bd3aae..71ca3ff 100644
--- a/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs
+++ b/OpenSim/Framework/Servers/HttpServer/Interfaces/IHttpServer.cs
@@ -97,6 +97,18 @@ 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>
+        /// Websocket HTTP server handlers.
+        /// </summary>
+        /// <param name="servicepath"></param>
+        /// <param name="handler"></param>
+        void AddWebSocketHandler(string servicepath, BaseHttpServer.WebSocketRequestDelegate handler);
+
+
+        void RemoveWebSocketHandler(string servicepath);
+       
         /// <summary>
         /// Gets the XML RPC handler for given method name
         /// </summary>
diff --git a/OpenSim/Region/Framework/Scenes/Scripting/ScriptEngineInterface.cs b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
index 812a21c..5bab508 100644
--- a/OpenSim/Region/Framework/Scenes/Scripting/ScriptEngineInterface.cs
+++ b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
@@ -25,14 +25,10 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-//TODO: WHERE TO PLACE THIS?
+using System.Net;
+using OpenMetaverse.StructuredData;
 
-namespace OpenSim.Region.Framework.Scenes.Scripting
+namespace OpenSim.Framework.Servers.HttpServer
 {
-    public interface ScriptEngineInterface
-    {
-        void InitializeEngine(Scene Sceneworld);
-        void Shutdown();
-//        void StartScript(string ScriptID, IScriptHost ObjectID);
-    }
+    public delegate bool 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/HttpServer/PollServiceRequestManager.cs b/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
index 4be8bf4..07bd48a 100644
--- a/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
+++ b/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
@@ -50,19 +50,26 @@ namespace OpenSim.Framework.Servers.HttpServer
         private uint m_WorkerThreadCount = 0;
         private Thread[] m_workerThreads;
         private PollServiceWorkerThread[] m_PollServiceWorkerThreads;
-        private bool m_running = true;
+        private volatile bool m_running = true;
+        private int m_pollTimeout;
 
         public PollServiceRequestManager(BaseHttpServer pSrv, uint pWorkerThreadCount, int pTimeout)
         {
             m_server = pSrv;
             m_WorkerThreadCount = pWorkerThreadCount;
+            m_pollTimeout = pTimeout;
+        }
+
+        public void Start()
+        {
+            m_running = true;
             m_workerThreads = new Thread[m_WorkerThreadCount];
             m_PollServiceWorkerThreads = new PollServiceWorkerThread[m_WorkerThreadCount];
 
             //startup worker threads
             for (uint i = 0; i < m_WorkerThreadCount; i++)
             {
-                m_PollServiceWorkerThreads[i] = new PollServiceWorkerThread(m_server, pTimeout);
+                m_PollServiceWorkerThreads[i] = new PollServiceWorkerThread(m_server, m_pollTimeout);
                 m_PollServiceWorkerThreads[i].ReQueue += ReQueueEvent;
 
                 m_workerThreads[i]
@@ -141,8 +148,10 @@ namespace OpenSim.Framework.Servers.HttpServer
             
         }
 
-        ~PollServiceRequestManager()
+        public void Stop()
         {
+            m_running = false;
+
             foreach (object o in m_requests)
             {
                 PollServiceHttpRequest req = (PollServiceHttpRequest) o;
@@ -157,7 +166,6 @@ namespace OpenSim.Framework.Servers.HttpServer
             {
                 t.Abort();
             }
-            m_running = false;
         }
     }
 }
diff --git a/OpenSim/Framework/Servers/HttpServer/Properties/AssemblyInfo.cs b/OpenSim/Framework/Servers/HttpServer/Properties/AssemblyInfo.cs
index 02ecc25..386be2d 100644
--- a/OpenSim/Framework/Servers/HttpServer/Properties/AssemblyInfo.cs
+++ b/OpenSim/Framework/Servers/HttpServer/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Framework/Servers/HttpServer/WebsocketServerHandler.cs b/OpenSim/Framework/Servers/HttpServer/WebsocketServerHandler.cs
new file mode 100644
index 0000000..cfb1605
--- /dev/null
+++ b/OpenSim/Framework/Servers/HttpServer/WebsocketServerHandler.cs
@@ -0,0 +1,1085 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Security.Cryptography;
+using System.Text;
+using HttpServer;
+
+namespace OpenSim.Framework.Servers.HttpServer
+{
+    // Sealed class.  If you're going to unseal it, implement IDisposable.
+    /// <summary>
+    /// This class implements websockets.    It grabs the network context from C#Webserver and utilizes it directly as a tcp streaming service
+    /// </summary>
+    public sealed class WebSocketHttpServerHandler : BaseRequestHandler
+    {
+
+        private class WebSocketState
+        {
+            public List<byte> ReceivedBytes;
+            public int ExpectedBytes;
+            public WebsocketFrameHeader Header;
+            public bool FrameComplete;
+            public WebSocketFrame ContinuationFrame;
+        }
+
+        /// <summary>
+        /// Binary Data will trigger this event
+        /// </summary>
+        public event DataDelegate OnData;
+
+        /// <summary>
+        /// Textual Data will trigger this event
+        /// </summary>
+        public event TextDelegate OnText;
+
+        /// <summary>
+        /// A ping request form the other side will trigger this event.
+        /// This class responds to the ping automatically.  You shouldn't send a pong.
+        /// it's informational.
+        /// </summary>
+        public event PingDelegate OnPing;
+
+        /// <summary>
+        /// This is a response to a ping you sent.
+        /// </summary>
+        public event PongDelegate OnPong;
+
+        /// <summary>
+        /// This is a regular HTTP Request...    This may be removed in the future.   
+        /// </summary>
+        public event RegularHttpRequestDelegate OnRegularHttpRequest;
+
+        /// <summary>
+        /// When the upgrade from a HTTP request to a Websocket is completed, this will be fired
+        /// </summary>
+        public event UpgradeCompletedDelegate OnUpgradeCompleted;
+
+        /// <summary>
+        /// If the upgrade failed, this will be fired
+        /// </summary>
+        public event UpgradeFailedDelegate OnUpgradeFailed;
+
+        /// <summary>
+        /// When the websocket is closed, this will be fired.
+        /// </summary>
+        public event CloseDelegate OnClose;
+        
+        /// <summary>
+        /// Set this delegate to allow your module to validate the origin of the 
+        /// Websocket request.  Primary line of defense against cross site scripting
+        /// </summary>
+        public ValidateHandshake HandshakeValidateMethodOverride = null;
+
+        private OSHttpRequest _request;
+        private HTTPNetworkContext _networkContext;
+        private IHttpClientContext _clientContext;
+
+        private int _pingtime = 0;
+        private byte[] _buffer;
+        private int _bufferPosition;
+        private int _bufferLength;
+        private bool _closing;
+        private bool _upgraded;
+
+        private const string HandshakeAcceptText =
+            "HTTP/1.1 101 Switching Protocols\r\n" +
+            "upgrade: websocket\r\n" +
+            "Connection: Upgrade\r\n" +
+            "sec-websocket-accept: {0}\r\n\r\n";// +
+           //"{1}";
+
+        private const string HandshakeDeclineText =
+            "HTTP/1.1 {0} {1}\r\n" +
+            "Connection: close\r\n\r\n";
+
+        /// <summary>
+        /// Mysterious constant defined in RFC6455 to append to the client provided security key
+        /// </summary>
+        private const string WebsocketHandshakeAcceptHashConstant = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11";
+
+        public WebSocketHttpServerHandler(OSHttpRequest preq, IHttpClientContext pContext, int bufferlen)
+            : base(preq.HttpMethod, preq.Url.OriginalString)
+        {
+            _request = preq;
+            _networkContext = pContext.GiveMeTheNetworkStreamIKnowWhatImDoing();
+            _clientContext = pContext;
+            _bufferLength = bufferlen;
+            _buffer = new byte[_bufferLength];
+        }
+
+        // Sealed class implments destructor and an internal dispose method. complies with C# unmanaged resource best practices.
+        ~WebSocketHttpServerHandler()
+        {
+            Dispose();
+
+        }
+
+        /// <summary>
+        /// Sets the length of the stream buffer
+        /// </summary>
+        /// <param name="pChunk">Byte length.</param>
+        public void SetChunksize(int pChunk)
+        {
+            if (!_upgraded)
+            {
+                _buffer = new byte[pChunk];
+            }
+            else
+            {
+                throw new InvalidOperationException("You must set the chunksize before the connection is upgraded");
+            }
+        }
+
+        /// <summary>
+        /// This is the famous nagle.
+        /// </summary>
+        public bool NoDelay_TCP_Nagle
+        {
+            get
+            {
+                if (_networkContext != null && _networkContext.Socket != null)
+                {
+                    return _networkContext.Socket.NoDelay;
+                }
+                else
+                {
+                    throw new InvalidOperationException("The socket has been shutdown");
+                }
+            } 
+            set
+            {
+                if (_networkContext != null && _networkContext.Socket != null)
+                    _networkContext.Socket.NoDelay = value;
+                else
+                {
+                    throw new InvalidOperationException("The socket has been shutdown");
+                }
+            }
+        }
+
+        /// <summary>
+        /// This triggers the websocket to start the upgrade process...  
+        /// This is a Generalized Networking 'common sense' helper method.  Some people expect to call Start() instead 
+        /// of the more context appropriate HandshakeAndUpgrade()
+        /// </summary>
+        public void Start()
+        {
+            HandshakeAndUpgrade();
+        }
+
+        /// <summary>
+        /// This triggers the websocket start the upgrade process
+        /// </summary>
+        public void HandshakeAndUpgrade()
+        {
+            string webOrigin = string.Empty;
+            string websocketKey = string.Empty;
+            string acceptKey = string.Empty;
+            string accepthost = string.Empty;
+            if (!string.IsNullOrEmpty(_request.Headers["origin"]))
+                webOrigin = _request.Headers["origin"];
+
+            if (!string.IsNullOrEmpty(_request.Headers["sec-websocket-key"]))
+                websocketKey = _request.Headers["sec-websocket-key"];
+
+            if (!string.IsNullOrEmpty(_request.Headers["host"]))
+                accepthost = _request.Headers["host"];
+
+            if (string.IsNullOrEmpty(_request.Headers["upgrade"]))
+            {
+                FailUpgrade(OSHttpStatusCode.ClientErrorBadRequest, "no upgrade request submitted");
+            }
+
+            string connectionheader = _request.Headers["upgrade"];
+            if (connectionheader.ToLower() != "websocket")
+            {
+                FailUpgrade(OSHttpStatusCode.ClientErrorBadRequest, "no connection upgrade request submitted");
+            }
+
+            // If the object consumer provided a method to validate the origin, we should call it and give the client a success or fail.
+            // If not..  we should accept any.   The assumption here is that there would be no Websocket handlers registered in baseHTTPServer unless
+            // Something asked for it...
+            if (HandshakeValidateMethodOverride != null)
+            {
+                if (HandshakeValidateMethodOverride(webOrigin, websocketKey, accepthost))
+                {
+                    acceptKey = GenerateAcceptKey(websocketKey);
+                    string rawaccept = string.Format(HandshakeAcceptText, acceptKey);
+                    SendUpgradeSuccess(rawaccept);
+                    
+                }
+                else
+                {
+                    FailUpgrade(OSHttpStatusCode.ClientErrorForbidden, "Origin Validation Failed");
+                }
+            }
+            else
+            {
+                acceptKey = GenerateAcceptKey(websocketKey);
+                string rawaccept = string.Format(HandshakeAcceptText, acceptKey);
+                SendUpgradeSuccess(rawaccept);
+            }
+        }
+
+        /// <summary>
+        /// Generates a handshake response key string based on the client's 
+        /// provided key to prove to the client that we're allowing the Websocket
+        /// upgrade of our own free will and we were not coerced into doing it.
+        /// </summary>
+        /// <param name="key">Client provided security key</param>
+        /// <returns></returns>
+        private static string GenerateAcceptKey(string key)
+        {
+            if (string.IsNullOrEmpty(key))
+                return string.Empty;
+
+            string acceptkey = key + WebsocketHandshakeAcceptHashConstant;
+
+            SHA1 hashobj = SHA1.Create();
+            string ret = Convert.ToBase64String(hashobj.ComputeHash(Encoding.UTF8.GetBytes(acceptkey)));
+            hashobj.Clear();
+            
+            return ret;
+        }
+
+        /// <summary>
+        /// Informs the otherside that we accepted their upgrade request
+        /// </summary>
+        /// <param name="pHandshakeResponse">The HTTP 1.1 101 response that says Yay \o/ </param>
+        private void SendUpgradeSuccess(string pHandshakeResponse)
+        {
+            // Create a new websocket state so we can keep track of data in between network reads.
+            WebSocketState socketState = new WebSocketState() { ReceivedBytes = new List<byte>(), Header = WebsocketFrameHeader.HeaderDefault(), FrameComplete = true};
+            
+            byte[] bhandshakeResponse = Encoding.UTF8.GetBytes(pHandshakeResponse);
+            try
+            {
+                
+                // Begin reading the TCP stream before writing the Upgrade success message to the other side of the stream.
+                _networkContext.Stream.BeginRead(_buffer, 0, _bufferLength, OnReceive, socketState);
+                
+                // Write the upgrade handshake success message
+                _networkContext.Stream.Write(bhandshakeResponse, 0, bhandshakeResponse.Length);
+                _networkContext.Stream.Flush();
+                _upgraded = true;
+                UpgradeCompletedDelegate d = OnUpgradeCompleted;
+                if (d != null)
+                    d(this, new UpgradeCompletedEventArgs());
+            }
+            catch (IOException fail)
+            {
+                Close(string.Empty);
+            }
+            catch (ObjectDisposedException fail)
+            {
+                Close(string.Empty);
+            }
+            
+        }
+
+        /// <summary>
+        /// The server has decided not to allow the upgrade to a websocket for some reason.  The Http 1.1 response that says Nay >:(
+        /// </summary>
+        /// <param name="pCode">HTTP Status reflecting the reason why</param>
+        /// <param name="pMessage">Textual reason for the upgrade fail</param>
+        private void FailUpgrade(OSHttpStatusCode pCode, string pMessage )
+        {
+            string handshakeResponse = string.Format(HandshakeDeclineText, (int)pCode, pMessage.Replace("\n", string.Empty).Replace("\r", string.Empty));
+            byte[] bhandshakeResponse = Encoding.UTF8.GetBytes(handshakeResponse);
+            _networkContext.Stream.Write(bhandshakeResponse, 0, bhandshakeResponse.Length);
+            _networkContext.Stream.Flush();
+            _networkContext.Stream.Dispose();
+
+            UpgradeFailedDelegate d = OnUpgradeFailed;
+            if (d != null)
+                d(this,new UpgradeFailedEventArgs());
+        }
+
+
+        /// <summary>
+        /// This is our ugly Async OnReceive event handler.
+        /// This chunks the input stream based on the length of the provided buffer and processes out 
+        /// as many frames as it can.   It then moves the unprocessed data to the beginning of the buffer.
+        /// </summary>
+        /// <param name="ar">Our Async State from beginread</param>
+        private void OnReceive(IAsyncResult ar)
+        {
+            WebSocketState _socketState = ar.AsyncState as WebSocketState;
+            try
+            {
+                int bytesRead = _networkContext.Stream.EndRead(ar);
+                if (bytesRead == 0)
+                {
+                    // Do Disconnect
+                    _networkContext.Stream.Dispose();
+                    _networkContext = null;
+                    return;
+                }
+                _bufferPosition += bytesRead;
+
+                if (_bufferPosition > _bufferLength)
+                {
+                    // Message too big for chunksize..   not sure how this happened...  
+                    //Close(string.Empty);
+                }
+
+                int offset = 0;
+                bool headerread = true;
+                int headerforwardposition = 0;
+                while (headerread && offset < bytesRead)
+                {
+                    if (_socketState.FrameComplete)
+                    {
+                        WebsocketFrameHeader pheader = WebsocketFrameHeader.ZeroHeader;
+
+                        headerread = WebSocketReader.TryReadHeader(_buffer, offset, _bufferPosition - offset, out pheader,
+                                                                   out headerforwardposition);
+                        offset += headerforwardposition;
+
+                        if (headerread)
+                        {
+                            _socketState.FrameComplete = false;
+
+                            if (pheader.PayloadLen > 0)
+                            {
+                                if ((int) pheader.PayloadLen > _bufferPosition - offset)
+                                {
+                                    byte[] writebytes = new byte[_bufferPosition - offset];
+
+                                    Buffer.BlockCopy(_buffer, offset, writebytes, 0, (int) _bufferPosition - offset);
+                                    _socketState.ExpectedBytes = (int) pheader.PayloadLen;
+                                    _socketState.ReceivedBytes.AddRange(writebytes);
+                                    _socketState.Header = pheader; // We need to add the header so that we can unmask it
+                                    offset += (int) _bufferPosition - offset;
+                                }
+                                else
+                                {
+                                    byte[] writebytes = new byte[pheader.PayloadLen];
+                                    Buffer.BlockCopy(_buffer, offset, writebytes, 0, (int) pheader.PayloadLen);
+                                    WebSocketReader.Mask(pheader.Mask, writebytes);
+                                    pheader.IsMasked = false;
+                                    _socketState.FrameComplete = true;
+                                    _socketState.ReceivedBytes.AddRange(writebytes);
+                                    _socketState.Header = pheader;
+                                    offset += (int) pheader.PayloadLen;
+                                }
+                            }
+                            else
+                            {
+                                pheader.Mask = 0;
+                                _socketState.FrameComplete = true;
+                                _socketState.Header = pheader;
+                            }
+
+
+
+                            if (_socketState.FrameComplete)
+                            {
+                                ProcessFrame(_socketState);
+                                _socketState.Header.SetDefault();
+                                _socketState.ReceivedBytes.Clear();
+                                _socketState.ExpectedBytes = 0;
+
+                            }
+
+                        }
+                    }
+                    else
+                    {
+                        WebsocketFrameHeader frameHeader = _socketState.Header;
+                        int bytesleft = _socketState.ExpectedBytes - _socketState.ReceivedBytes.Count;
+
+                        if (bytesleft > _bufferPosition)
+                        {
+                            byte[] writebytes = new byte[_bufferPosition];
+
+                            Buffer.BlockCopy(_buffer, offset, writebytes, 0, (int) _bufferPosition);
+                            _socketState.ReceivedBytes.AddRange(writebytes);
+                            _socketState.Header = frameHeader; // We need to add the header so that we can unmask it
+                            offset += (int) _bufferPosition;
+                        }
+                        else
+                        {
+                            byte[] writebytes = new byte[_bufferPosition];
+                            Buffer.BlockCopy(_buffer, offset, writebytes, 0, (int) _bufferPosition);
+                            _socketState.FrameComplete = true;
+                            _socketState.ReceivedBytes.AddRange(writebytes);
+                            _socketState.Header = frameHeader;
+                            offset += (int) _bufferPosition;
+                        }
+                        if (_socketState.FrameComplete)
+                        {
+                            ProcessFrame(_socketState);
+                            _socketState.Header.SetDefault();
+                            _socketState.ReceivedBytes.Clear();
+                            _socketState.ExpectedBytes = 0;
+                            // do some processing
+                        }
+
+                    }
+                }
+                if (offset > 0)
+                {
+                    // If the buffer is maxed out..  we can just move the cursor.   Nothing to move to the beginning.
+                    if (offset <_buffer.Length)
+                        Buffer.BlockCopy(_buffer, offset, _buffer, 0, _bufferPosition - offset);
+                    _bufferPosition -= offset;
+                }
+                if (_networkContext.Stream != null && _networkContext.Stream.CanRead && !_closing)
+                {
+                    _networkContext.Stream.BeginRead(_buffer, _bufferPosition, _bufferLength - _bufferPosition, OnReceive,
+                                                    _socketState);
+                }
+                else
+                {
+                    // We can't read the stream anymore...  
+                }
+
+            }
+            catch (IOException fail)
+            {
+                Close(string.Empty);
+            }
+            catch (ObjectDisposedException fail)
+            {
+                Close(string.Empty);
+            }
+        }
+
+        /// <summary>
+        /// Sends a string to the other side
+        /// </summary>
+        /// <param name="message">the string message that is to be sent</param>
+        public void SendMessage(string message)
+        {
+            byte[] messagedata = Encoding.UTF8.GetBytes(message);
+            WebSocketFrame textMessageFrame = new WebSocketFrame() { Header = WebsocketFrameHeader.HeaderDefault(), WebSocketPayload = messagedata };
+            textMessageFrame.Header.Opcode = WebSocketReader.OpCode.Text;
+            textMessageFrame.Header.IsEnd = true;
+            SendSocket(textMessageFrame.ToBytes());
+            
+        }
+
+        public void SendData(byte[] data)
+        {
+            WebSocketFrame dataMessageFrame = new WebSocketFrame() { Header = WebsocketFrameHeader.HeaderDefault(), WebSocketPayload = data};
+            dataMessageFrame.Header.IsEnd = true;
+            dataMessageFrame.Header.Opcode = WebSocketReader.OpCode.Binary;
+            SendSocket(dataMessageFrame.ToBytes());
+
+        }
+
+        /// <summary>
+        /// Writes raw bytes to the websocket.   Unframed data will cause disconnection
+        /// </summary>
+        /// <param name="data"></param>
+        private void SendSocket(byte[] data)
+        {
+            if (!_closing)
+            {
+                try
+                {
+
+                    _networkContext.Stream.Write(data, 0, data.Length);
+                }
+                catch (IOException)
+                {
+
+                }
+            }
+        }
+
+        /// <summary>
+        /// Sends a Ping check to the other side.  The other side SHOULD respond as soon as possible with a pong frame.   This interleaves with incoming fragmented frames.
+        /// </summary>
+        public void SendPingCheck()
+        {
+            WebSocketFrame pingFrame = new WebSocketFrame() { Header = WebsocketFrameHeader.HeaderDefault(), WebSocketPayload = new byte[0] };
+            pingFrame.Header.Opcode = WebSocketReader.OpCode.Ping;
+            pingFrame.Header.IsEnd = true;
+            _pingtime = Util.EnvironmentTickCount();
+            SendSocket(pingFrame.ToBytes());
+        }
+
+        /// <summary>
+        /// Closes the websocket connection.   Sends a close message to the other side if it hasn't already done so.
+        /// </summary>
+        /// <param name="message"></param>
+        public void Close(string message)
+        {
+            if (_networkContext.Stream != null)
+            {
+                if (_networkContext.Stream.CanWrite)
+            {
+                byte[] messagedata = Encoding.UTF8.GetBytes(message);
+                WebSocketFrame closeResponseFrame = new WebSocketFrame()
+                                                        {
+                                                            Header = WebsocketFrameHeader.HeaderDefault(),
+                                                            WebSocketPayload = messagedata
+                                                        };
+                closeResponseFrame.Header.Opcode = WebSocketReader.OpCode.Close;
+                closeResponseFrame.Header.PayloadLen = (ulong) messagedata.Length;
+                closeResponseFrame.Header.IsEnd = true;
+                SendSocket(closeResponseFrame.ToBytes());
+            }
+                }
+            CloseDelegate closeD = OnClose;
+            if (closeD != null)
+            {
+                closeD(this, new CloseEventArgs());
+            }
+
+            _closing = true;
+        }
+
+        /// <summary>
+        /// Processes a websocket frame and triggers consumer events
+        /// </summary>
+        /// <param name="psocketState">We need to modify the websocket state here depending on the frame</param>
+        private void ProcessFrame(WebSocketState psocketState)
+        {
+            if (psocketState.Header.IsMasked)
+            {
+                byte[] unmask = psocketState.ReceivedBytes.ToArray();
+                WebSocketReader.Mask(psocketState.Header.Mask, unmask);
+                psocketState.ReceivedBytes = new List<byte>(unmask);
+            }
+            
+            switch (psocketState.Header.Opcode)
+            {
+                case WebSocketReader.OpCode.Ping:
+                    PingDelegate pingD = OnPing;
+                    if (pingD != null)
+                    {
+                        pingD(this, new PingEventArgs());
+                    }
+
+                    WebSocketFrame pongFrame = new WebSocketFrame(){Header = WebsocketFrameHeader.HeaderDefault(),WebSocketPayload = new byte[0]};
+                    pongFrame.Header.Opcode = WebSocketReader.OpCode.Pong;
+                    pongFrame.Header.IsEnd = true;
+                    SendSocket(pongFrame.ToBytes());
+                    break;
+                case WebSocketReader.OpCode.Pong:
+                 
+                    PongDelegate pongD = OnPong;
+                    if (pongD != null)
+                    {
+                        pongD(this, new PongEventArgs(){PingResponseMS = Util.EnvironmentTickCountSubtract(Util.EnvironmentTickCount(),_pingtime)});
+                    }
+                    break;
+                case WebSocketReader.OpCode.Binary:
+                    if (!psocketState.Header.IsEnd) // Not done, so we need to store this and wait for the end frame.
+                    {
+                        psocketState.ContinuationFrame = new WebSocketFrame
+                                                             {
+                                                                 Header = psocketState.Header,
+                                                                 WebSocketPayload =
+                                                                     psocketState.ReceivedBytes.ToArray()
+                                                             };
+                    }
+                    else
+                    {
+                        // Send Done Event!
+                        DataDelegate dataD = OnData;
+                        if (dataD != null)
+                        {
+                            dataD(this,new WebsocketDataEventArgs(){Data = psocketState.ReceivedBytes.ToArray()});
+                        }
+                    }
+                    break;
+                case WebSocketReader.OpCode.Text:
+                    if (!psocketState.Header.IsEnd) // Not done, so we need to store this and wait for the end frame.
+                    {
+                        psocketState.ContinuationFrame = new WebSocketFrame
+                                                             {
+                                                                 Header = psocketState.Header,
+                                                                 WebSocketPayload =
+                                                                     psocketState.ReceivedBytes.ToArray()
+                                                             };
+                    }
+                    else
+                    {
+                        TextDelegate textD = OnText;
+                        if (textD != null)
+                        {
+                            textD(this, new WebsocketTextEventArgs() { Data = Encoding.UTF8.GetString(psocketState.ReceivedBytes.ToArray()) });
+                        }
+                        
+                        // Send Done Event!
+                    }
+                    break;
+                case WebSocketReader.OpCode.Continue:  // Continuation.  Multiple frames worth of data for one message.   Only valid when not using Control Opcodes
+                    //Console.WriteLine("currhead " + psocketState.Header.IsEnd);
+                    //Console.WriteLine("Continuation! " + psocketState.ContinuationFrame.Header.IsEnd);
+                    byte[] combineddata = new byte[psocketState.ReceivedBytes.Count+psocketState.ContinuationFrame.WebSocketPayload.Length];
+                    byte[] newdata = psocketState.ReceivedBytes.ToArray();
+                    Buffer.BlockCopy(psocketState.ContinuationFrame.WebSocketPayload, 0, combineddata, 0, psocketState.ContinuationFrame.WebSocketPayload.Length);
+                    Buffer.BlockCopy(newdata, 0, combineddata,
+                                        psocketState.ContinuationFrame.WebSocketPayload.Length, newdata.Length);
+                    psocketState.ContinuationFrame.WebSocketPayload = combineddata;
+                    psocketState.Header.PayloadLen = (ulong)combineddata.Length;
+                    if (psocketState.Header.IsEnd)
+                    {
+                        if (psocketState.ContinuationFrame.Header.Opcode == WebSocketReader.OpCode.Text)
+                        {
+                            // Send Done event    
+                            TextDelegate textD = OnText;
+                            if (textD != null)
+                            {
+                                textD(this, new WebsocketTextEventArgs() { Data = Encoding.UTF8.GetString(combineddata) });
+                            }
+                        }
+                        else if (psocketState.ContinuationFrame.Header.Opcode == WebSocketReader.OpCode.Binary)
+                        {
+                            // Send Done event
+                            DataDelegate dataD = OnData;
+                            if (dataD != null)
+                            {
+                                dataD(this, new WebsocketDataEventArgs() { Data = combineddata });
+                            }
+                        }
+                        else
+                        {
+                            // protocol violation
+                        }
+                        psocketState.ContinuationFrame = null;
+                    }
+                    break;
+                case WebSocketReader.OpCode.Close:
+                    Close(string.Empty);
+                    
+                    break;
+               
+            }
+            psocketState.Header.SetDefault();
+            psocketState.ReceivedBytes.Clear();
+            psocketState.ExpectedBytes = 0;
+        }
+        public void Dispose()
+        {
+            if (_networkContext != null && _networkContext.Stream != null)
+            {
+                if (_networkContext.Stream.CanWrite)
+                    _networkContext.Stream.Flush();
+                _networkContext.Stream.Close();
+                _networkContext.Stream.Dispose();
+                _networkContext.Stream = null;
+            }
+
+            if (_request != null && _request.InputStream != null)
+            {
+                _request.InputStream.Close();
+                _request.InputStream.Dispose();
+                _request = null;
+            }
+
+            if (_clientContext != null)
+            {
+                _clientContext.Close();
+                _clientContext = null;
+            }
+        }
+    }
+
+    /// <summary>
+    /// Reads a byte stream and returns Websocket frames.
+    /// </summary>
+    public class WebSocketReader
+    {
+        /// <summary>
+        /// Bit to determine if the frame read on the stream is the last frame in a sequence of fragmented frames
+        /// </summary>
+        private const byte EndBit = 0x80;
+
+        /// <summary>
+        /// These are the Frame Opcodes
+        /// </summary>
+        public enum OpCode
+        {
+            // Data Opcodes
+            Continue = 0x0,
+            Text = 0x1,
+            Binary = 0x2,
+
+            // Control flow Opcodes
+            Close = 0x8,
+            Ping = 0x9,
+            Pong = 0xA
+        }
+
+        /// <summary>
+        /// Masks and Unmasks data using the frame mask.  Mask is applied per octal
+        /// Note: Frames from clients MUST be masked
+        /// Note: Frames from servers MUST NOT be masked
+        /// </summary>
+        /// <param name="pMask">Int representing 32 bytes of mask data.  Mask is applied per octal</param>
+        /// <param name="pBuffer"></param>
+        public static void Mask(int pMask, byte[] pBuffer)
+        {
+            byte[] maskKey = BitConverter.GetBytes(pMask);
+            int currentMaskIndex = 0;
+            for (int i = 0; i < pBuffer.Length; i++)
+            {
+                pBuffer[i] = (byte)(pBuffer[i] ^ maskKey[currentMaskIndex]);
+                if (currentMaskIndex == 3)
+                {
+                    currentMaskIndex = 0;
+                }
+                else
+                {
+                    currentMaskIndex++;
+
+                }
+
+            }
+        }
+
+        /// <summary>
+        /// Attempts to read a header off the provided buffer.  Returns true, exports a WebSocketFrameheader, 
+        /// and an int to move the buffer forward when it reads a header.  False when it can't read a header
+        /// </summary>
+        /// <param name="pBuffer">Bytes read from the stream</param>
+        /// <param name="pOffset">Starting place in the stream to begin trying to read from</param>
+        /// <param name="length">Lenth in the stream to try and read from.  Provided for cases where the 
+        /// buffer's length is larger then the data in it</param>
+        /// <param name="oHeader">Outputs the read WebSocket frame header</param>
+        /// <param name="moveBuffer">Informs the calling stream to move the buffer forward</param>
+        /// <returns>True if it got a header, False if it didn't get a header</returns>
+        public static bool TryReadHeader(byte[] pBuffer, int pOffset, int length, out WebsocketFrameHeader oHeader,
+                                         out int moveBuffer)
+        {
+            oHeader = WebsocketFrameHeader.ZeroHeader;
+            int minumheadersize = 2;
+            if (length > pBuffer.Length - pOffset)
+                throw new ArgumentOutOfRangeException("The Length specified was larger the byte array supplied");
+            if (length < minumheadersize)
+            {
+                moveBuffer = 0;
+                return false;
+            }
+
+            byte nibble1 = (byte)(pBuffer[pOffset] & 0xF0);  //FIN/RSV1/RSV2/RSV3
+            byte nibble2 = (byte)(pBuffer[pOffset] & 0x0F); // Opcode block
+
+            oHeader = new WebsocketFrameHeader();
+            oHeader.SetDefault();
+
+            if ((nibble1 & WebSocketReader.EndBit) == WebSocketReader.EndBit)
+            {
+                oHeader.IsEnd = true;
+            }
+            else
+            {
+                oHeader.IsEnd = false;
+            }
+            //Opcode
+            oHeader.Opcode = (WebSocketReader.OpCode)nibble2;
+            //Mask
+            oHeader.IsMasked = Convert.ToBoolean((pBuffer[pOffset + 1] & 0x80) >> 7);
+
+            // Payload length
+            oHeader.PayloadLen = (byte)(pBuffer[pOffset + 1] & 0x7F);
+
+            int index = 2; // LargerPayload length starts at byte 3
+
+            switch (oHeader.PayloadLen)
+            {
+                case 126:
+                    minumheadersize += 2;
+                    if (length < minumheadersize)
+                    {
+                        moveBuffer = 0;
+                        return false;
+                    }
+                    Array.Reverse(pBuffer, pOffset + index, 2);  // two bytes
+                    oHeader.PayloadLen = BitConverter.ToUInt16(pBuffer, pOffset + index);
+                    index += 2;
+                    break;
+                case 127:   // we got more this is a bigger frame  
+                    // 8 bytes - uint64 - most significant bit 0  network byte order
+                    minumheadersize += 8;
+                    if (length < minumheadersize)
+                    {
+                        moveBuffer = 0;
+                        return false;
+                    }
+                    Array.Reverse(pBuffer, pOffset + index, 8);
+                    oHeader.PayloadLen = BitConverter.ToUInt64(pBuffer, pOffset + index);
+                    index += 8;
+                    break;
+                
+            }
+            //oHeader.PayloadLeft = oHeader.PayloadLen; // Start the count in case it's chunked over the network.  This is different then frame fragmentation
+            if (oHeader.IsMasked)
+            {
+                minumheadersize += 4;
+                if (length < minumheadersize)
+                {
+                    moveBuffer = 0;
+                    return false;
+                }
+                oHeader.Mask = BitConverter.ToInt32(pBuffer, pOffset + index);
+                index += 4;
+            }
+            moveBuffer = index;
+            return true;
+
+        }
+    }
+
+    /// <summary>
+    /// RFC6455 Websocket Frame
+    /// </summary>
+    public class WebSocketFrame
+    {
+        /*
+         * RFC6455
+nib   0       1       2       3       4       5       6       7
+byt   0               1               2               3               
+dec   0                   1                   2                   3   
+      0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 
+     +-+-+-+-+-------+-+-------------+-------------------------------+
+     |F|R|R|R| opcode|M| Payload len |    Extended payload length    |
+     |I|S|S|S|  (4)  |A|     (7)     |             (16/64)           +
+     |N|V|V|V|       |S|             |   (if payload len==126/127)   |
+     | |1|2|3|       |K|             |                               +
+     +-+-+-+-+-------+-+-------------+ - - - - - - - - - - - - - - - +
+     |     Extended payload length continued, if payload len == 127  |
+     + - - - - - - - - - - - - - - - +-------------------------------+
+     |                               |Masking-key, if MASK set to 1  |
+     +-------------------------------+-------------------------------+
+     | Masking-key (continued)       |          Payload Data         |
+     +-------------------------------- - - - - - - - - - - - - - - - +
+     :                     Payload Data continued ...                :
+     + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - +
+     |                     Payload Data continued ...                |
+     +---------------------------------------------------------------+
+
+         *   When reading these, the frames are possibly fragmented and interleaved with control frames
+         *   the fragmented frames are not interleaved with data frames.  Just control frames
+         */
+        public static readonly WebSocketFrame DefaultFrame = new WebSocketFrame(){Header = new WebsocketFrameHeader(),WebSocketPayload = new byte[0]};
+        public WebsocketFrameHeader Header;
+        public byte[] WebSocketPayload;
+        
+        public byte[] ToBytes()
+        {
+            Header.PayloadLen = (ulong)WebSocketPayload.Length;
+            return Header.ToBytes(WebSocketPayload);
+        }
+
+    }
+
+    public struct WebsocketFrameHeader
+    {
+        //public byte CurrentMaskIndex;
+        /// <summary>
+        /// The last frame in a sequence of fragmented frames or the one and only frame for this message.
+        /// </summary>
+        public bool IsEnd;
+
+        /// <summary>
+        /// Returns whether the payload data is masked or not.  Data from Clients MUST be masked, Data from Servers MUST NOT be masked
+        /// </summary>
+        public bool IsMasked;
+
+        /// <summary>
+        /// A set of cryptologically sound random bytes XoR-ed against the payload octally.  Looped
+        /// </summary>
+        public int Mask;
+        /*
+byt   0               1               2               3
+      0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 
+     +---------------+---------------+---------------+---------------+
+     |    Octal 1    |    Octal 2    |    Octal 3    |    Octal 4    |
+     +---------------+---------------+---------------+---------------+
+*/
+
+
+        public WebSocketReader.OpCode Opcode;
+
+        public UInt64 PayloadLen;
+        //public UInt64 PayloadLeft;
+        // Payload is X + Y   
+        //public UInt64 ExtensionDataLength;
+        //public UInt64 ApplicationDataLength;
+        public static readonly WebsocketFrameHeader ZeroHeader = WebsocketFrameHeader.HeaderDefault();
+       
+        public void SetDefault()
+        {
+
+            //CurrentMaskIndex = 0;
+            IsEnd = true;
+            IsMasked = true;
+            Mask = 0;
+            Opcode = WebSocketReader.OpCode.Close;
+  //        PayloadLeft = 0;
+            PayloadLen = 0;
+  //        ExtensionDataLength = 0;
+  //        ApplicationDataLength = 0;
+
+        }
+
+        /// <summary>
+        /// Returns a byte array representing the Frame header
+        /// </summary>
+        /// <param name="payload">This is the frame data payload.  The header describes the size of the payload. 
+        /// If payload is null, a Zero sized payload is assumed</param>
+        /// <returns>Returns a byte array representing the frame header</returns>
+        public byte[] ToBytes(byte[] payload)
+        {
+            List<byte> result = new List<byte>();
+           
+            // Squeeze in our opcode and our ending bit.
+            result.Add((byte)((byte)Opcode | (IsEnd?0x80:0x00) ));
+           
+            // Again with the three different byte interpretations of size..
+
+            //bytesize
+            if (PayloadLen <= 125)
+            {
+                result.Add((byte) PayloadLen);
+            } //Uint16
+            else if (PayloadLen <= ushort.MaxValue)
+            {
+                result.Add(126);
+                byte[] payloadLengthByte = BitConverter.GetBytes(Convert.ToUInt16(PayloadLen));
+                Array.Reverse(payloadLengthByte);
+                result.AddRange(payloadLengthByte);
+            } //UInt64
+            else
+            {
+                result.Add(127);
+                byte[] payloadLengthByte = BitConverter.GetBytes(PayloadLen);
+                Array.Reverse(payloadLengthByte);
+                result.AddRange(payloadLengthByte);
+            }
+            
+            // Only add a payload if it's not null
+            if (payload != null)
+            {
+                result.AddRange(payload);
+            }
+            return result.ToArray();
+        }
+
+        /// <summary>
+        /// A Helper method to define the defaults
+        /// </summary>
+        /// <returns></returns>
+
+        public static WebsocketFrameHeader HeaderDefault()
+        {
+            return new WebsocketFrameHeader
+                       {
+                           //CurrentMaskIndex = 0,
+                           IsEnd = false,
+                           IsMasked = true,
+                           Mask = 0,
+                           Opcode = WebSocketReader.OpCode.Close,
+                           //PayloadLeft = 0,
+                           PayloadLen = 0,
+ //                          ExtensionDataLength = 0,
+ //                          ApplicationDataLength = 0
+                       };
+        }
+    }
+
+    public delegate void DataDelegate(object sender, WebsocketDataEventArgs data);
+
+    public delegate void TextDelegate(object sender, WebsocketTextEventArgs text);
+
+    public delegate void PingDelegate(object sender, PingEventArgs pingdata);
+
+    public delegate void PongDelegate(object sender, PongEventArgs pongdata);
+
+    public delegate void RegularHttpRequestDelegate(object sender, RegularHttpRequestEvnetArgs request);
+
+    public delegate void UpgradeCompletedDelegate(object sender, UpgradeCompletedEventArgs completeddata);
+
+    public delegate void UpgradeFailedDelegate(object sender, UpgradeFailedEventArgs faileddata);
+
+    public delegate void CloseDelegate(object sender, CloseEventArgs closedata);
+
+    public delegate bool ValidateHandshake(string pWebOrigin, string pWebSocketKey, string pHost);
+
+
+    public class WebsocketDataEventArgs : EventArgs
+    {
+        public byte[] Data;
+    }
+
+    public class WebsocketTextEventArgs : EventArgs
+    {
+        public string Data;
+    }
+
+    public class PingEventArgs : EventArgs
+    {
+        /// <summary>
+        /// The ping event can arbitrarily contain data
+        /// </summary>
+        public byte[] Data;
+    }
+
+    public class PongEventArgs : EventArgs
+    {
+        /// <summary>
+        /// The pong event can arbitrarily contain data
+        /// </summary>
+        public byte[] Data;
+
+        public int PingResponseMS;
+
+    }
+
+    public class RegularHttpRequestEvnetArgs : EventArgs
+    {
+
+    }
+
+    public class UpgradeCompletedEventArgs : EventArgs
+    {
+
+    }
+
+    public class UpgradeFailedEventArgs : EventArgs
+    {
+
+    }
+
+    public class CloseEventArgs : EventArgs
+    {
+
+    }
+
+   
+}
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/Framework/Servers/Properties/AssemblyInfo.cs b/OpenSim/Framework/Servers/Properties/AssemblyInfo.cs
index 021f63c..792c62e 100644
--- a/OpenSim/Framework/Servers/Properties/AssemblyInfo.cs
+++ b/OpenSim/Framework/Servers/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Framework/Servers/ServerBase.cs b/OpenSim/Framework/Servers/ServerBase.cs
index 9eb2281..65ccd10 100644
--- a/OpenSim/Framework/Servers/ServerBase.cs
+++ b/OpenSim/Framework/Servers/ServerBase.cs
@@ -27,16 +27,19 @@
 
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
 using System.IO;
 using System.Reflection;
 using System.Text;
 using System.Text.RegularExpressions;
+using System.Threading;
 using log4net;
 using log4net.Appender;
 using log4net.Core;
 using log4net.Repository;
 using Nini.Config;
 using OpenSim.Framework.Console;
+using OpenSim.Framework.Monitoring;
 
 namespace OpenSim.Framework.Servers
 {
@@ -168,6 +171,9 @@ namespace OpenSim.Framework.Servers
                 "General", false, "show info", "show info", "Show general information about the server", HandleShow);
 
             m_console.Commands.AddCommand(
+                "General", false, "show version", "show version", "Show server version", HandleShow);
+
+            m_console.Commands.AddCommand(
                 "General", false, "show uptime", "show uptime", "Show server uptime", HandleShow);
 
             m_console.Commands.AddCommand(
@@ -206,6 +212,34 @@ namespace OpenSim.Framework.Servers
                 "General", false, "command-script",
                 "command-script <script>",
                 "Run a command script from file", HandleScript);
+
+            m_console.Commands.AddCommand(
+                "General", false, "show threads",
+                "show threads",
+                "Show thread status", HandleShow);
+
+            m_console.Commands.AddCommand(
+                "General", false, "threads abort",
+                "threads abort <thread-id>",
+                "Abort a managed thread.  Use \"show threads\" to find possible threads.", HandleThreadsAbort);
+
+            m_console.Commands.AddCommand(
+                "General", false, "threads show",
+                "threads show",
+                "Show thread status.  Synonym for \"show threads\"",
+                (string module, string[] args) => Notice(GetThreadsReport()));
+
+            m_console.Commands.AddCommand(
+                "General", false, "force gc",
+                "force gc",
+                "Manually invoke runtime garbage collection.  For debugging purposes",
+                HandleForceGc);
+        }
+
+        private void HandleForceGc(string module, string[] args)
+        {
+            Notice("Manually invoking runtime garbage collection");
+            GC.Collect();
         }
 
         public virtual void HandleShow(string module, string[] cmd)
@@ -222,9 +256,17 @@ namespace OpenSim.Framework.Servers
                     ShowInfo();
                     break;
 
+                case "version":
+                    Notice(GetVersionText());
+                    break;
+
                 case "uptime":
                     Notice(GetUptimeReport());
                     break;
+
+                case "threads":
+                    Notice(GetThreadsReport());
+                    break;
             }
         }
 
@@ -537,6 +579,75 @@ namespace OpenSim.Framework.Servers
         }
 
         /// <summary>
+        /// Get a report about the registered threads in this server.
+        /// </summary>
+        protected string GetThreadsReport()
+        {
+            // This should be a constant field.
+            string reportFormat = "{0,6}   {1,35}   {2,16}   {3,13}   {4,10}   {5,30}";
+
+            StringBuilder sb = new StringBuilder();
+            Watchdog.ThreadWatchdogInfo[] threads = Watchdog.GetThreadsInfo();
+
+            sb.Append(threads.Length + " threads are being tracked:" + Environment.NewLine);
+
+            int timeNow = Environment.TickCount & Int32.MaxValue;
+
+            sb.AppendFormat(reportFormat, "ID", "NAME", "LAST UPDATE (MS)", "LIFETIME (MS)", "PRIORITY", "STATE");
+            sb.Append(Environment.NewLine);
+
+            foreach (Watchdog.ThreadWatchdogInfo twi in threads)
+            {
+                Thread t = twi.Thread;
+                
+                sb.AppendFormat(
+                    reportFormat,
+                    t.ManagedThreadId,
+                    t.Name,
+                    timeNow - twi.LastTick,
+                    timeNow - twi.FirstTick,
+                    t.Priority,
+                    t.ThreadState);
+
+                sb.Append("\n");
+            }
+
+            sb.Append("\n");
+
+            // For some reason mono 2.6.7 returns an empty threads set!  Not going to confuse people by reporting
+            // zero active threads.
+            int totalThreads = Process.GetCurrentProcess().Threads.Count;
+            if (totalThreads > 0)
+                sb.AppendFormat("Total threads active: {0}\n\n", totalThreads);
+
+            sb.Append("Main threadpool (excluding script engine pools)\n");
+            sb.Append(Util.GetThreadPoolReport());
+
+            return sb.ToString();
+        }
+
+        public virtual void HandleThreadsAbort(string module, string[] cmd)
+        {
+            if (cmd.Length != 3)
+            {
+                MainConsole.Instance.Output("Usage: threads abort <thread-id>");
+                return;
+            }
+
+            int threadId;
+            if (!int.TryParse(cmd[2], out threadId))
+            {
+                MainConsole.Instance.Output("ERROR: Thread id must be an integer");
+                return;
+            }
+
+            if (Watchdog.AbortThread(threadId))
+                MainConsole.Instance.OutputFormat("Aborted thread with id {0}", threadId);
+            else
+                MainConsole.Instance.OutputFormat("ERROR - Thread with id {0} not found in managed threads", threadId);
+        } 
+
+        /// <summary>
         /// Console output is only possible if a console has been established.
         /// That is something that cannot be determined within this class. So
         /// all attempts to use the console MUST be verified.
diff --git a/OpenSim/Framework/Servers/Tests/OSHttpTests.cs b/OpenSim/Framework/Servers/Tests/OSHttpTests.cs
index 4c2f586..deae45c 100644
--- a/OpenSim/Framework/Servers/Tests/OSHttpTests.cs
+++ b/OpenSim/Framework/Servers/Tests/OSHttpTests.cs
@@ -35,11 +35,12 @@ using HttpServer;
 using HttpServer.FormDecoders;
 using NUnit.Framework;
 using OpenSim.Framework.Servers.HttpServer;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Servers.Tests
 {
     [TestFixture]
-    public class OSHttpTests
+    public class OSHttpTests : OpenSimTestCase
     {
         // we need an IHttpClientContext for our tests
         public class TestHttpClientContext: IHttpClientContext
@@ -69,6 +70,11 @@ namespace OpenSim.Framework.Servers.Tests
             public void Close() { }
             public bool EndWhenDone { get { return false;} set { return;}}
 
+            public HTTPNetworkContext GiveMeTheNetworkStreamIKnowWhatImDoing()
+            {
+                return new HTTPNetworkContext();
+            }
+
             public event EventHandler<DisconnectedEventArgs> Disconnected = delegate { };
             /// <summary>
             /// A request have been received in the context.
diff --git a/OpenSim/Framework/Servers/Tests/VersionInfoTests.cs b/OpenSim/Framework/Servers/Tests/VersionInfoTests.cs
index 49e5061..480f2bb 100644
--- a/OpenSim/Framework/Servers/Tests/VersionInfoTests.cs
+++ b/OpenSim/Framework/Servers/Tests/VersionInfoTests.cs
@@ -29,11 +29,12 @@ using System;
 using System.Collections.Generic;
 using System.Text;
 using NUnit.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Servers.Tests
 {
     [TestFixture]
-    public class VersionInfoTests
+    public class VersionInfoTests : OpenSimTestCase
     {
         [Test]
         public void TestVersionLength()
diff --git a/OpenSim/Framework/Servers/VersionInfo.cs b/OpenSim/Framework/Servers/VersionInfo.cs
index bb094ed..737c14d 100644
--- a/OpenSim/Framework/Servers/VersionInfo.cs
+++ b/OpenSim/Framework/Servers/VersionInfo.cs
@@ -29,7 +29,7 @@ namespace OpenSim
 {
     public class VersionInfo
     {
-        private const string VERSION_NUMBER = "0.7.5CM";
+        private const string VERSION_NUMBER = "0.7.6CM";
         private const Flavour VERSION_FLAVOUR = Flavour.Dev;
 
         public enum Flavour
diff --git a/OpenSim/Framework/Tests/AgentCircuitDataTest.cs b/OpenSim/Framework/Tests/AgentCircuitDataTest.cs
index 0dce414..95e9439 100644
--- a/OpenSim/Framework/Tests/AgentCircuitDataTest.cs
+++ b/OpenSim/Framework/Tests/AgentCircuitDataTest.cs
@@ -24,16 +24,17 @@
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
+
 using System.Collections.Generic;
 using OpenMetaverse;
 using OpenMetaverse.StructuredData;
 using NUnit.Framework;
-
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class AgentCircuitDataTest
+    public class AgentCircuitDataTest : OpenSimTestCase
     {
         private UUID AgentId;
         private AvatarAppearance AvAppearance;
diff --git a/OpenSim/Framework/Tests/AnimationTests.cs b/OpenSim/Framework/Tests/AnimationTests.cs
index 967a355..f3be81b 100644
--- a/OpenSim/Framework/Tests/AnimationTests.cs
+++ b/OpenSim/Framework/Tests/AnimationTests.cs
@@ -38,7 +38,7 @@ using Animation = OpenSim.Framework.Animation;
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class AnimationTests
+    public class AnimationTests : OpenSimTestCase
     {
         private Animation anim1 = null;
         private Animation anim2 = null;
diff --git a/OpenSim/Framework/Tests/AssetBaseTest.cs b/OpenSim/Framework/Tests/AssetBaseTest.cs
index 6db1aa0..25d2393 100644
--- a/OpenSim/Framework/Tests/AssetBaseTest.cs
+++ b/OpenSim/Framework/Tests/AssetBaseTest.cs
@@ -30,11 +30,12 @@ using System.Collections.Generic;
 using System.Text;
 using NUnit.Framework;
 using OpenMetaverse;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class AssetBaseTest
+    public class AssetBaseTest : OpenSimTestCase
     {
         [Test]
         public void TestContainsReferences()
diff --git a/OpenSim/Framework/Tests/CacheTests.cs b/OpenSim/Framework/Tests/CacheTests.cs
index c3613e6..c709860 100644
--- a/OpenSim/Framework/Tests/CacheTests.cs
+++ b/OpenSim/Framework/Tests/CacheTests.cs
@@ -28,11 +28,12 @@
 using System;
 using NUnit.Framework;
 using OpenMetaverse;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class CacheTests
+    public class CacheTests : OpenSimTestCase
     {
         private Cache cache;
         private UUID cacheItemUUID;
diff --git a/OpenSim/Framework/Tests/LocationTest.cs b/OpenSim/Framework/Tests/LocationTest.cs
index 2707afa..a56ecb4 100644
--- a/OpenSim/Framework/Tests/LocationTest.cs
+++ b/OpenSim/Framework/Tests/LocationTest.cs
@@ -26,11 +26,12 @@
  */
 
 using NUnit.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class LocationTest
+    public class LocationTest : OpenSimTestCase
     {
         [Test]
         public void locationRegionHandleRegionHandle()
diff --git a/OpenSim/Framework/Tests/MundaneFrameworkTests.cs b/OpenSim/Framework/Tests/MundaneFrameworkTests.cs
index 6fde488..0fbdaf3 100644
--- a/OpenSim/Framework/Tests/MundaneFrameworkTests.cs
+++ b/OpenSim/Framework/Tests/MundaneFrameworkTests.cs
@@ -32,11 +32,12 @@ using OpenMetaverse.StructuredData;
 using System;
 using System.Globalization;
 using System.Threading;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class MundaneFrameworkTests
+    public class MundaneFrameworkTests : OpenSimTestCase
     {
         private bool m_RegionSettingsOnSaveEventFired;
         private bool m_RegionLightShareDataOnSaveEventFired;
@@ -302,10 +303,6 @@ namespace OpenSim.Framework.Tests
             Culture.SetCurrentCulture();
             Assert.That(Thread.CurrentThread.CurrentCulture.Name == ci.Name, "SetCurrentCulture failed to set thread culture to en-US");
 
-        }
-
-       
-
+        }     
     }
-}
-
+}
\ No newline at end of file
diff --git a/OpenSim/Framework/Tests/PrimeNumberHelperTests.cs b/OpenSim/Framework/Tests/PrimeNumberHelperTests.cs
index 36bc6e7..82e13e5 100644
--- a/OpenSim/Framework/Tests/PrimeNumberHelperTests.cs
+++ b/OpenSim/Framework/Tests/PrimeNumberHelperTests.cs
@@ -31,11 +31,12 @@ using NUnit.Framework;
 using OpenMetaverse;
 using OpenMetaverse.StructuredData;
 using OpenSim.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class PrimeNumberHelperTests
+    public class PrimeNumberHelperTests : OpenSimTestCase
     {
         [Test]
         public void TestGetPrime()
diff --git a/OpenSim/Framework/Tests/UtilTest.cs b/OpenSim/Framework/Tests/UtilTest.cs
index f0d2a3f..11ca068 100644
--- a/OpenSim/Framework/Tests/UtilTest.cs
+++ b/OpenSim/Framework/Tests/UtilTest.cs
@@ -33,7 +33,7 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Framework.Tests
 {
     [TestFixture]
-    public class UtilTests
+    public class UtilTests : OpenSimTestCase
     {
         [Test]
         public void VectorOperationTests()
diff --git a/OpenSim/Framework/Util.cs b/OpenSim/Framework/Util.cs
index 48f3f8b..0545365 100644
--- a/OpenSim/Framework/Util.cs
+++ b/OpenSim/Framework/Util.cs
@@ -45,6 +45,7 @@ using System.Text.RegularExpressions;
 using System.Xml;
 using System.Threading;
 using log4net;
+using log4net.Appender;
 using Nini.Config;
 using Nwc.XmlRpc;
 using OpenMetaverse;
@@ -299,6 +300,25 @@ namespace OpenSim.Framework
                 x;
         }
 
+        // Clamp the maximum magnitude of a vector
+        public static Vector3 ClampV(Vector3 x, float max)
+        {
+            Vector3 ret = x;
+            float lenSq = x.LengthSquared();
+            if (lenSq > (max * max))
+            {
+                x = x / x.Length() * max;
+            }
+            return x;
+        }
+
+        // Inclusive, within range test (true if equal to the endpoints)
+        public static bool InRange<T>(T x, T min, T max)
+            where T : IComparable<T>
+        {
+            return x.CompareTo(max) <= 0 && x.CompareTo(min) >= 0;
+        }
+
         public static uint GetNextXferID()
         {
             uint id = 0;
@@ -809,9 +829,22 @@ namespace OpenSim.Framework
             return ".";
         }
 
+        public static string logFile()
+        {
+            foreach (IAppender appender in LogManager.GetRepository().GetAppenders())
+            {
+                if (appender is FileAppender)
+                {
+                    return ((FileAppender)appender).File;
+                }
+            }
+
+            return "./OpenSim.log";
+        }
+
         public static string logDir()
         {
-            return ".";
+            return Path.GetDirectoryName(logFile());
         }
 
         // From: http://coercedcode.blogspot.com/2008/03/c-generate-unique-filenames-within.html
@@ -1651,7 +1684,13 @@ namespace OpenSim.Framework
             if (m_ThreadPool != null)
                 throw new InvalidOperationException("SmartThreadPool is already initialized");
 
-            m_ThreadPool = new SmartThreadPool(2000, maxThreads, 2);
+            STPStartInfo startInfo = new STPStartInfo();
+            startInfo.ThreadPoolName = "Util";
+            startInfo.IdleTimeout = 2000;
+            startInfo.MaxWorkerThreads = maxThreads;
+            startInfo.MinWorkerThreads = 2;
+
+            m_ThreadPool = new SmartThreadPool(startInfo);
         }
 
         public static int FireAndForgetCount()
@@ -1724,7 +1763,7 @@ namespace OpenSim.Framework
                     break;
                 case FireAndForgetMethod.SmartThreadPool:
                     if (m_ThreadPool == null)
-                        m_ThreadPool = new SmartThreadPool(2000, 15, 2);
+                        InitThreadPool(15); 
                     m_ThreadPool.QueueWorkItem(SmartThreadPoolCallback, new object[] { realCallback, obj });
                     break;
                 case FireAndForgetMethod.Thread:
@@ -1753,12 +1792,16 @@ namespace OpenSim.Framework
             StringBuilder sb = new StringBuilder();
             if (FireAndForgetMethod == FireAndForgetMethod.SmartThreadPool)
             {
-                threadPoolUsed = "SmartThreadPool";
-                maxThreads = m_ThreadPool.MaxThreads;
-                minThreads = m_ThreadPool.MinThreads;
-                inUseThreads = m_ThreadPool.InUseThreads;
-                allocatedThreads = m_ThreadPool.ActiveThreads;
-                waitingCallbacks = m_ThreadPool.WaitingCallbacks;
+                // ROBUST currently leaves this the FireAndForgetMethod but never actually initializes the threadpool.
+                if (m_ThreadPool != null)
+                {
+                    threadPoolUsed = "SmartThreadPool";
+                    maxThreads = m_ThreadPool.MaxThreads;
+                    minThreads = m_ThreadPool.MinThreads;
+                    inUseThreads = m_ThreadPool.InUseThreads;
+                    allocatedThreads = m_ThreadPool.ActiveThreads;
+                    waitingCallbacks = m_ThreadPool.WaitingCallbacks;
+                }
             }
             else if (
                 FireAndForgetMethod == FireAndForgetMethod.UnsafeQueueUserWorkItem
@@ -1863,6 +1906,12 @@ namespace OpenSim.Framework
         /// </summary>
         public static void PrintCallStack()
         {
+            PrintCallStack(m_log.DebugFormat);
+        }
+
+        public delegate void DebugPrinter(string msg, params Object[] parm);
+        public static void PrintCallStack(DebugPrinter printer)
+        {
             StackTrace stackTrace = new StackTrace(true);           // get call stack
             StackFrame[] stackFrames = stackTrace.GetFrames();  // get method calls (frames)
 
@@ -1870,7 +1919,7 @@ namespace OpenSim.Framework
             foreach (StackFrame stackFrame in stackFrames)
             {
                 MethodBase mb = stackFrame.GetMethod();
-                m_log.DebugFormat("{0}.{1}:{2}", mb.DeclaringType, mb.Name, stackFrame.GetFileLineNumber()); // write method name
+                printer("{0}.{1}:{2}", mb.DeclaringType, mb.Name, stackFrame.GetFileLineNumber()); // write method name
             }
         }
 
@@ -2096,6 +2145,17 @@ namespace OpenSim.Framework
             return firstName + "." + lastName + " " + "@" + uri.Authority;
         }
         #endregion
+
+        /// <summary>
+        /// Escapes the special characters used in "LIKE".
+        /// </summary>
+        /// <remarks>
+        /// For example: EscapeForLike("foo_bar%baz") = "foo\_bar\%baz"
+        /// </remarks>
+        public static string EscapeForLike(string str)
+        {
+            return str.Replace("_", "\\_").Replace("%", "\\%");
+        }
     }
 
     public class DoubleQueue<T> where T:class
diff --git a/OpenSim/Region/Application/Application.cs b/OpenSim/Region/Application/Application.cs
index 0f90d37..c3e7ec2 100644
--- a/OpenSim/Region/Application/Application.cs
+++ b/OpenSim/Region/Application/Application.cs
@@ -102,17 +102,50 @@ namespace OpenSim
             m_log.InfoFormat(
                 "[OPENSIM MAIN]: Environment variable MONO_THREADS_PER_CPU is {0}", monoThreadsPerCpu ?? "unset");
 
-            // Increase the number of IOCP threads available. Mono defaults to a tragically low number
+            // Verify the Threadpool allocates or uses enough worker and IO completion threads
+                        // .NET 2.0 workerthreads default to 50 *  numcores
+                        // .NET 3.0 workerthreads defaults to 250 * numcores
+                        // .NET 4.0 workerthreads are dynamic based on bitness and OS resources
+                        // Max IO Completion threads are 1000 on all 3 CLRs.
+                        int workerThreadsMin = 500;
+                        int workerThreadsMax = 1000; // may need further adjustment to match other CLR
+                        int iocpThreadsMin = 1000;
+                        int iocpThreadsMax = 2000; // may need further adjustment to match other CLR
             int workerThreads, iocpThreads;
             System.Threading.ThreadPool.GetMaxThreads(out workerThreads, out iocpThreads);
             m_log.InfoFormat("[OPENSIM MAIN]: Runtime gave us {0} worker threads and {1} IOCP threads", workerThreads, iocpThreads);
-            if (workerThreads < 500 || iocpThreads < 1000)
+            if (workerThreads < workerThreadsMin)
             {
-                workerThreads = 500;
-                iocpThreads = 1000;
-                m_log.Info("[OPENSIM MAIN]: Bumping up to 500 worker threads and 1000 IOCP threads");
-                System.Threading.ThreadPool.SetMaxThreads(workerThreads, iocpThreads);
+                workerThreads = workerThreadsMin;
+                m_log.InfoFormat("[OPENSIM MAIN]: Bumping up to worker threads to {0}",workerThreads);
             }
+            if (workerThreads > workerThreadsMax)
+            {
+                workerThreads = workerThreadsMax;
+                m_log.InfoFormat("[OPENSIM MAIN]: Limiting worker threads to {0}",workerThreads);
+            }
+                        // Increase the number of IOCP threads available.
+                        // Mono defaults to a tragically low number (24 on 6-core / 8GB Fedora 17)
+                        if (iocpThreads < iocpThreadsMin)
+            {
+                iocpThreads = iocpThreadsMin;
+                m_log.InfoFormat("[OPENSIM MAIN]: Bumping up IO completion threads to {0}",iocpThreads);
+            }
+                        // Make sure we don't overallocate IOCP threads and thrash system resources
+            if ( iocpThreads > iocpThreadsMax )
+            {
+                iocpThreads = iocpThreadsMax;
+                m_log.InfoFormat("[OPENSIM MAIN]: Limiting IO completion threads to {0}",iocpThreads);
+            }
+                        // set the resulting worker and IO completion thread counts back to ThreadPool
+            if ( System.Threading.ThreadPool.SetMaxThreads(workerThreads, iocpThreads) )
+                        {
+                    m_log.InfoFormat("[OPENSIM MAIN]: Threadpool set to {0} worker threads and {1} IO completion threads", workerThreads, iocpThreads);
+                        }
+                        else
+                        {
+                    m_log.Info("[OPENSIM MAIN]: Threadpool reconfiguration failed, runtime defaults still in effect.");                         
+                        }
 
             // Check if the system is compatible with OpenSimulator.
             // Ensures that the minimum system requirements are met
diff --git a/OpenSim/Region/Application/OpenSim.cs b/OpenSim/Region/Application/OpenSim.cs
index 08e4023..e1cff69 100644
--- a/OpenSim/Region/Application/OpenSim.cs
+++ b/OpenSim/Region/Application/OpenSim.cs
@@ -236,18 +236,6 @@ namespace OpenSim
                                           + "If an avatar name is given then only packets from that avatar are logged",
                                           Debug);
 
-            m_console.Commands.AddCommand("Debug", false, "debug teleport", "debug teleport", "Toggle teleport route debugging", Debug);
-
-            m_console.Commands.AddCommand("Debug", false, "debug scene",
-                                          "debug scene active|collisions|physics|scripting|teleport true|false",
-                                          "Turn on scene debugging.",
-                                            "If active     is false then main scene update and maintenance loops are suspended.\n"
-                                          + "If collisions is false then collisions with other objects are turned off.\n"
-                                          + "If physics    is false then all physics objects are non-physical.\n"
-                                          + "If scripting  is false then no scripting operations happen.\n"
-                                          + "If teleport   is true  then some extra teleport debug information is logged.",
-                                          Debug);
-
             m_console.Commands.AddCommand("General", false, "change region",
                                           "change region <region name>",
                                           "Change current console region", ChangeSelectedRegion);
@@ -744,31 +732,6 @@ namespace OpenSim
 
                     break;
 
-                case "scene":
-                    if (args.Length == 4)
-                    {
-                        if (SceneManager.CurrentScene == null)
-                        {
-                            MainConsole.Instance.Output("Please use 'change region <regioname>' first");
-                        }
-                        else
-                        {
-                            string key = args[2];
-                            string value = args[3];
-                            SceneManager.CurrentScene.SetSceneCoreDebug(
-                                new Dictionary<string, string>() { { key, value } });
-
-                            MainConsole.Instance.OutputFormat("Set debug scene {0} = {1}", key, value);
-                        }
-                    }
-                    else
-                    {
-                        MainConsole.Instance.Output(
-                            "Usage: debug scene active|scripting|collisions|physics|teleport true|false");
-                    }
-
-                    break;
-
                 default:
                     MainConsole.Instance.Output("Unknown debug command");
                     break;
diff --git a/OpenSim/Region/Application/OpenSimBase.cs b/OpenSim/Region/Application/OpenSimBase.cs
index bed9a49..3f63534 100644
--- a/OpenSim/Region/Application/OpenSimBase.cs
+++ b/OpenSim/Region/Application/OpenSimBase.cs
@@ -331,7 +331,7 @@ namespace OpenSim
         /// <param name="regionInfo"></param>
         /// <param name="portadd_flag"></param>
         /// <returns></returns>
-        public IClientNetworkServer CreateRegion(RegionInfo regionInfo, bool portadd_flag, out IScene scene)
+        public List<IClientNetworkServer> CreateRegion(RegionInfo regionInfo, bool portadd_flag, out IScene scene)
         {
             return CreateRegion(regionInfo, portadd_flag, false, out scene);
         }
@@ -341,7 +341,7 @@ namespace OpenSim
         /// </summary>
         /// <param name="regionInfo"></param>
         /// <returns></returns>
-        public IClientNetworkServer CreateRegion(RegionInfo regionInfo, out IScene scene)
+        public List<IClientNetworkServer> CreateRegion(RegionInfo regionInfo, out IScene scene)
         {
             return CreateRegion(regionInfo, false, true, out scene);
         }
@@ -353,7 +353,7 @@ namespace OpenSim
         /// <param name="portadd_flag"></param>
         /// <param name="do_post_init"></param>
         /// <returns></returns>
-        public IClientNetworkServer CreateRegion(RegionInfo regionInfo, bool portadd_flag, bool do_post_init, out IScene mscene)
+        public List<IClientNetworkServer> CreateRegion(RegionInfo regionInfo, bool portadd_flag, bool do_post_init, out IScene mscene)
         {
             int port = regionInfo.InternalEndPoint.Port;
 
@@ -378,8 +378,8 @@ namespace OpenSim
                 Util.XmlRpcCommand(proxyUrl, "AddPort", port, port + proxyOffset, regionInfo.ExternalHostName);
             }
 
-            IClientNetworkServer clientServer;
-            Scene scene = SetupScene(regionInfo, proxyOffset, Config, out clientServer);
+            List<IClientNetworkServer> clientServers;
+            Scene scene = SetupScene(regionInfo, proxyOffset, Config, out clientServers);
 
             m_log.Info("[MODULES]: Loading Region's modules (old style)");
 
@@ -483,8 +483,11 @@ namespace OpenSim
 
             if (m_autoCreateClientStack)
             {
-                m_clientServers.Add(clientServer);
-                clientServer.Start();
+                foreach (IClientNetworkServer clientserver in clientServers)
+                {
+                    m_clientServers.Add(clientserver);
+                    clientserver.Start();
+                }
             }
 
             if (scene.SnmpService != null)
@@ -504,7 +507,7 @@ namespace OpenSim
             scene.Start();
             scene.StartScripts();
 
-            return clientServer;
+            return clientServers;
         }
 
         /// <summary>
@@ -725,7 +728,7 @@ namespace OpenSim
         /// <param name="regionInfo"></param>
         /// <param name="clientServer"> </param>
         /// <returns></returns>
-        protected Scene SetupScene(RegionInfo regionInfo, out IClientNetworkServer clientServer)
+        protected Scene SetupScene(RegionInfo regionInfo, out List<IClientNetworkServer> clientServer)
         {
             return SetupScene(regionInfo, 0, null, out clientServer);
         }
@@ -739,19 +742,20 @@ namespace OpenSim
         /// <param name="clientServer"> </param>
         /// <returns></returns>
         protected Scene SetupScene(
-            RegionInfo regionInfo, int proxyOffset, IConfigSource configSource, out IClientNetworkServer clientServer)
+            RegionInfo regionInfo, int proxyOffset, IConfigSource configSource, out List<IClientNetworkServer> clientServer)
         {
+            List<IClientNetworkServer> clientNetworkServers = null;
+
             AgentCircuitManager circuitManager = new AgentCircuitManager();
             IPAddress listenIP = regionInfo.InternalEndPoint.Address;
             //if (!IPAddress.TryParse(regionInfo.InternalEndPoint, out listenIP))
             //    listenIP = IPAddress.Parse("0.0.0.0");
 
             uint port = (uint) regionInfo.InternalEndPoint.Port;
-
+            IClientNetworkServer clientNetworkServer;
             if (m_autoCreateClientStack)
             {
-                clientServer
-                    = m_clientStackManager.CreateServer(
+                clientNetworkServers = m_clientStackManager.CreateServers(
                         listenIP, ref port, proxyOffset, regionInfo.m_allow_alternate_ports, configSource,
                         circuitManager);
             }
@@ -766,9 +770,12 @@ namespace OpenSim
 
             if (m_autoCreateClientStack)
             {
-                clientServer.AddScene(scene);
+                foreach (IClientNetworkServer clientnetserver in clientNetworkServers)
+                {
+                    clientnetserver.AddScene(scene);
+                }
             }
-
+            clientServer = clientNetworkServers;
             scene.LoadWorldMap();
 
             scene.PhysicsScene = GetPhysicsScene(scene.RegionInfo.RegionName);
@@ -791,7 +798,7 @@ namespace OpenSim
 
             return new Scene(
                 regionInfo, circuitManager, sceneGridService,
-                simDataService, estateDataService, false,
+                simDataService, estateDataService,
                 Config, m_version);
         }
         
diff --git a/OpenSim/Region/ClientStack/ClientStackManager.cs b/OpenSim/Region/ClientStack/ClientStackManager.cs
index 84ea0b3..299aabd 100644
--- a/OpenSim/Region/ClientStack/ClientStackManager.cs
+++ b/OpenSim/Region/ClientStack/ClientStackManager.cs
@@ -26,6 +26,7 @@
  */
 
 using System;
+using System.Collections.Generic;
 using System.Net;
 using System.Reflection;
 using log4net;
@@ -38,39 +39,53 @@ namespace OpenSim.Region.ClientStack
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
-        private Type plugin;
-        private Assembly pluginAssembly;
+        private List<Type> plugin = new List<Type>();
+        private List<Assembly> pluginAssembly = new List<Assembly>();
 
-        public ClientStackManager(string dllName) 
+        public ClientStackManager(string pDllName) 
         {
-            m_log.Info("[CLIENTSTACK]: Attempting to load " + dllName);
-
-            try
+            List<string> clientstacks = new List<string>();
+            if (pDllName.Contains(","))
+            {
+                clientstacks = new List<string>(pDllName.Split(','));
+            }
+            else
             {
-                plugin = null;
-                pluginAssembly = Assembly.LoadFrom(dllName);
+                clientstacks.Add(pDllName);
+            }
+            foreach (string dllName in clientstacks)
+            {
+                m_log.Info("[CLIENTSTACK]: Attempting to load " + dllName);
 
-                foreach (Type pluginType in pluginAssembly.GetTypes())
+                try
                 {
-                    if (pluginType.IsPublic)
-                    {
-                        Type typeInterface = pluginType.GetInterface("IClientNetworkServer", true);
+                    //plugin = null;
+                    Assembly itemAssembly = Assembly.LoadFrom(dllName);
+                    pluginAssembly.Add(itemAssembly);
 
-                        if (typeInterface != null)
+                    foreach (Type pluginType in itemAssembly.GetTypes())
+                    {
+                        if (pluginType.IsPublic)
                         {
-                            m_log.Info("[CLIENTSTACK]: Added IClientNetworkServer Interface");
-                            plugin = pluginType;
-                            return;
+                            Type typeInterface = pluginType.GetInterface("IClientNetworkServer", true);
+
+                            if (typeInterface != null)
+                            {
+                                m_log.Info("[CLIENTSTACK]: Added IClientNetworkServer Interface");
+                                plugin.Add(pluginType);
+                                break;
+                            }
                         }
                     }
                 }
-            } catch (ReflectionTypeLoadException e)
-            {
-                foreach (Exception e2 in e.LoaderExceptions)
+                catch (ReflectionTypeLoadException e)
                 {
-                    m_log.Error(e2.ToString());
+                    foreach (Exception e2 in e.LoaderExceptions)
+                    {
+                        m_log.Error(e2.ToString());
+                    }
+                    throw e;
                 }
-                throw e;
             }
         }
         
@@ -84,11 +99,11 @@ namespace OpenSim.Region.ClientStack
         /// <param name="assetCache"></param>
         /// <param name="authenticateClass"></param>
         /// <returns></returns>
-        public IClientNetworkServer CreateServer(
+        public List<IClientNetworkServer> CreateServers(
             IPAddress _listenIP, ref uint port, int proxyPortOffset, bool allow_alternate_port,
             AgentCircuitManager authenticateClass)
         {
-            return CreateServer(
+            return CreateServers(
                 _listenIP, ref port, proxyPortOffset, allow_alternate_port, null, authenticateClass);
         }
 
@@ -105,20 +120,24 @@ namespace OpenSim.Region.ClientStack
         /// <param name="assetCache"></param>
         /// <param name="authenticateClass"></param>
         /// <returns></returns>
-        public IClientNetworkServer CreateServer(
+        public List<IClientNetworkServer> CreateServers(
             IPAddress _listenIP, ref uint port, int proxyPortOffset, bool allow_alternate_port, IConfigSource configSource,
             AgentCircuitManager authenticateClass)
         {
+            List<IClientNetworkServer> servers = new List<IClientNetworkServer>();
             if (plugin != null)
             {
-                IClientNetworkServer server =
-                    (IClientNetworkServer)Activator.CreateInstance(pluginAssembly.GetType(plugin.ToString()));
-                
-                server.Initialise(
-                    _listenIP, ref port, proxyPortOffset, allow_alternate_port, 
-                    configSource, authenticateClass);
-                
-                return server;
+                for (int i = 0; i < plugin.Count; i++)
+                {
+                    IClientNetworkServer server =
+                        (IClientNetworkServer) Activator.CreateInstance(pluginAssembly[i].GetType(plugin[i].ToString()));
+
+                    server.Initialise(
+                        _listenIP, ref port, proxyPortOffset, allow_alternate_port,
+                        configSource, authenticateClass);
+                    servers.Add(server);
+                }
+                return servers;
             }
             
             m_log.Error("[CLIENTSTACK]: Couldn't initialize a new server");
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
index 2bb3d38..d7d4708 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
@@ -105,7 +105,6 @@ namespace OpenSim.Region.ClientStack.Linden
         private static readonly string m_ResourceCostSelectedPath = "0103/";
         private static readonly string m_UpdateAgentInformationPath = "0500/";
         
-
         // These are callbacks which will be setup by the scene so that we can update scene data when we
         // receive capability calls
         public NewInventoryItem AddNewInventoryItem = null;
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/Tests/EventQueueTests.cs b/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/Tests/EventQueueTests.cs
index d604cf6..ed8ec16 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/Tests/EventQueueTests.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/EventQueue/Tests/EventQueueTests.cs
@@ -44,7 +44,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.ClientStack.Linden.Tests
 {
     [TestFixture]
-    public class EventQueueTests
+    public class EventQueueTests : OpenSimTestCase
     {
         private TestScene m_scene;
 
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/Properties/AssemblyInfo.cs b/OpenSim/Region/ClientStack/Linden/Caps/Properties/AssemblyInfo.cs
index 060a61c..d29a001 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
index ca15e3e..f1fe6e1 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
@@ -6576,19 +6576,10 @@ 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;
         }
@@ -12243,11 +12234,13 @@ namespace OpenSim.Region.ClientStack.LindenUDP
                 if (logPacket)
                     m_log.DebugFormat(
                         "[CLIENT]: PACKET IN  from {0} ({1}) in {2} - {3}",
-                        Name, SceneAgent.IsChildAgent ? "child" : "root ", m_scene.RegionInfo.RegionName, packet.Type);
+                        Name, SceneAgent.IsChildAgent ? "child" : "root ", Scene.Name, packet.Type);
             }
 
             if (!ProcessPacketMethod(packet))
-                m_log.Warn("[CLIENT]: unhandled packet " + packet.Type);
+                m_log.WarnFormat(
+                    "[CLIENT]: Unhandled packet {0} from {1} ({2}) in {3}.  Ignoring.",
+                    packet.Type, Name, SceneAgent.IsChildAgent ? "child" : "root ", Scene.Name);
         }
 
         private static PrimitiveBaseShape GetShapeFromAddPacket(ObjectAddPacket addPacket)
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs b/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs
index 2aeb4cc..7035e38 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs
@@ -204,9 +204,12 @@ namespace OpenMetaverse
         {
             UDPPacketBuffer buf;
 
-            if (UsePools)
-                buf = Pool.GetObject();
-            else
+            // FIXME: Disabled for now as this causes issues with reused packet objects interfering with each other 
+            // on Windows with m_asyncPacketHandling = true, though this has not been seen on Linux.
+            // Possibly some unexpected issue with fetching UDP data concurrently with multiple threads.  Requires more investigation.
+//            if (UsePools)
+//                buf = Pool.GetObject();
+//            else
                 buf = new UDPPacketBuffer();
 
             if (IsRunningInbound)
@@ -287,8 +290,8 @@ namespace OpenMetaverse
                 catch (ObjectDisposedException) { }
                 finally
                 {
-                    if (UsePools)
-                        Pool.ReturnObject(buffer);
+//                    if (UsePools)
+//                        Pool.ReturnObject(buffer);
 
                     // Synchronous mode waits until the packet callback completes
                     // before starting the receive to fetch another packet
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/Properties/AssemblyInfo.cs b/OpenSim/Region/ClientStack/Linden/UDP/Properties/AssemblyInfo.cs
index af2f6f8..8f9dad3 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/Tests/LLImageManagerTests.cs b/OpenSim/Region/ClientStack/Linden/UDP/Tests/LLImageManagerTests.cs
index 5fcf376..7d9f581 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/Tests/LLImageManagerTests.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/Tests/LLImageManagerTests.cs
@@ -43,7 +43,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.ClientStack.LindenUDP.Tests
 {
     [TestFixture]
-    public class LLImageManagerTests
+    public class LLImageManagerTests : OpenSimTestCase
     {
         private AssetBase m_testImageAsset;
         private Scene scene;
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/Tests/PacketHandlerTests.cs b/OpenSim/Region/ClientStack/Linden/UDP/Tests/PacketHandlerTests.cs
index 0f88ec6..5f73a94 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/Tests/PacketHandlerTests.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/Tests/PacketHandlerTests.cs
@@ -39,7 +39,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP.Tests
     /// Tests for the LL packet handler
     /// </summary>
     [TestFixture]
-    public class PacketHandlerTests
+    public class PacketHandlerTests : OpenSimTestCase
     {
 //        [Test]
 //        /// <summary>
diff --git a/OpenSim/Region/ClientStack/Properties/AssemblyInfo.cs b/OpenSim/Region/ClientStack/Properties/AssemblyInfo.cs
index e72bd86..0b6ee2f 100644
--- a/OpenSim/Region/ClientStack/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/ClientStack/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetTransactionModule.cs b/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetTransactionModule.cs
index 7332415..faee189 100644
--- a/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetTransactionModule.cs
+++ b/OpenSim/Region/CoreModules/Agent/AssetTransaction/AssetTransactionModule.cs
@@ -214,9 +214,9 @@ namespace OpenSim.Region.CoreModules.Agent.AssetTransaction
         public void HandleTaskItemUpdateFromTransaction(
             IClientAPI remoteClient, SceneObjectPart part, UUID transactionID, TaskInventoryItem item)
         {
-            m_log.DebugFormat(
-                "[ASSET TRANSACTION MODULE] Called HandleTaskItemUpdateFromTransaction with item {0} in {1} for {2} in {3}",
-                item.Name, part.Name, remoteClient.Name, m_Scene.RegionInfo.RegionName);
+//            m_log.DebugFormat(
+//                "[ASSET TRANSACTION MODULE]: Called HandleTaskItemUpdateFromTransaction with item {0} in {1} for {2} in {3}",
+//                item.Name, part.Name, remoteClient.Name, m_Scene.RegionInfo.RegionName);
 
             AgentAssetTransactions transactions =
                     GetUserTransactions(remoteClient.AgentId);
@@ -230,15 +230,17 @@ namespace OpenSim.Region.CoreModules.Agent.AssetTransaction
         /// </summary>
         /// <param name="remoteClient"></param>
         /// <param name="assetID"></param>
-        /// <param name="transaction"></param>
+        /// <param name="transactionID"></param>
         /// <param name="type"></param>
         /// <param name="data"></param></param>
         /// <param name="tempFile"></param>
         public void HandleUDPUploadRequest(IClientAPI remoteClient,
-                UUID assetID, UUID transaction, sbyte type, byte[] data,
+                UUID assetID, UUID transactionID, sbyte type, byte[] data,
                 bool storeLocal, bool tempFile)
         {
-//            m_log.Debug("HandleUDPUploadRequest - assetID: " + assetID.ToString() + " transaction: " + transaction.ToString() + " type: " + type.ToString() + " storelocal: " + storeLocal + " tempFile: " + tempFile);
+//            m_log.DebugFormat(
+//                "[ASSET TRANSACTION MODULE]: HandleUDPUploadRequest - assetID: {0}, transaction {1}, type {2}, storeLocal {3}, tempFile {4}, data.Length {5}",
+//                assetID, transactionID, type, storeLocal, tempFile, data.Length);
             
             if (((AssetType)type == AssetType.Texture ||
                 (AssetType)type == AssetType.Sound ||
@@ -274,8 +276,8 @@ namespace OpenSim.Region.CoreModules.Agent.AssetTransaction
             }
 
             AgentAssetTransactions transactions = GetUserTransactions(remoteClient.AgentId);
-            AssetXferUploader uploader = transactions.RequestXferUploader(transaction);
-            uploader.StartUpload(remoteClient, assetID, transaction, type, data, storeLocal, tempFile);
+            AssetXferUploader uploader = transactions.RequestXferUploader(transactionID);
+            uploader.StartUpload(remoteClient, assetID, transactionID, type, data, storeLocal, tempFile);
         }
 
         /// <summary>
diff --git a/OpenSim/Region/CoreModules/Asset/FlotsamAssetCache.cs b/OpenSim/Region/CoreModules/Asset/FlotsamAssetCache.cs
index a0f1e8c..96e8f35 100644
--- a/OpenSim/Region/CoreModules/Asset/FlotsamAssetCache.cs
+++ b/OpenSim/Region/CoreModules/Asset/FlotsamAssetCache.cs
@@ -363,12 +363,13 @@ namespace OpenSim.Region.CoreModules.Asset
         /// Try to get an asset from the file cache.
         /// </summary>
         /// <param name="id"></param>
-        /// <returns></returns>
+        /// <returns>An asset retrieved from the file cache.  null if there was a problem retrieving an asset.</returns>
         private AssetBase GetFromFileCache(string id)
         {
             AssetBase asset = null;
-
+           
             string filename = GetFileName(id);
+
             if (File.Exists(filename))
             {
                 FileStream stream = null;
@@ -383,7 +384,7 @@ namespace OpenSim.Region.CoreModules.Asset
                 }
                 catch (System.Runtime.Serialization.SerializationException e)
                 {
-                    m_log.ErrorFormat(
+                    m_log.WarnFormat(
                         "[FLOTSAM ASSET CACHE]: Failed to get file {0} for asset {1}.  Exception {2} {3}",
                         filename, id, e.Message, e.StackTrace);
 
@@ -395,7 +396,7 @@ namespace OpenSim.Region.CoreModules.Asset
                 }
                 catch (Exception e)
                 {
-                    m_log.ErrorFormat(
+                    m_log.WarnFormat(
                         "[FLOTSAM ASSET CACHE]: Failed to get file {0} for asset {1}.  Exception {2} {3}",
                         filename, id, e.Message, e.StackTrace);
                 }
@@ -552,7 +553,7 @@ namespace OpenSim.Region.CoreModules.Asset
             }
             catch (Exception e)
             {
-                m_log.ErrorFormat(
+                m_log.WarnFormat(
                     "[FLOTSAM ASSET CACHE]: Failed to expire cached file {0}.  Exception {1} {2}",
                     id, e.Message, e.StackTrace);
             }
@@ -603,29 +604,39 @@ namespace OpenSim.Region.CoreModules.Asset
         /// <param name="purgeLine"></param>
         private void CleanExpiredFiles(string dir, DateTime purgeLine)
         {
-            foreach (string file in Directory.GetFiles(dir))
+            try
             {
-                if (File.GetLastAccessTime(file) < purgeLine)
+                foreach (string file in Directory.GetFiles(dir))
                 {
-                    File.Delete(file);
+                    if (File.GetLastAccessTime(file) < purgeLine)
+                    {
+                        File.Delete(file);
+                    }
                 }
-            }
 
-            // Recurse into lower tiers
-            foreach (string subdir in Directory.GetDirectories(dir))
-            {
-                CleanExpiredFiles(subdir, purgeLine);
-            }
+                // Recurse into lower tiers
+                foreach (string subdir in Directory.GetDirectories(dir))
+                {
+                    CleanExpiredFiles(subdir, purgeLine);
+                }
 
-            // Check if a tier directory is empty, if so, delete it
-            int dirSize = Directory.GetFiles(dir).Length + Directory.GetDirectories(dir).Length;
-            if (dirSize == 0)
-            {
-                Directory.Delete(dir);
+                // Check if a tier directory is empty, if so, delete it
+                int dirSize = Directory.GetFiles(dir).Length + Directory.GetDirectories(dir).Length;
+                if (dirSize == 0)
+                {
+                    Directory.Delete(dir);
+                }
+                else if (dirSize >= m_CacheWarnAt)
+                {
+                    m_log.WarnFormat(
+                        "[FLOTSAM ASSET CACHE]: Cache folder exceeded CacheWarnAt limit {0} {1}.  Suggest increasing tiers, tier length, or reducing cache expiration", 
+                        dir, dirSize);
+                }
             }
-            else if (dirSize >= m_CacheWarnAt)
+            catch (Exception e)
             {
-                m_log.WarnFormat("[FLOTSAM ASSET CACHE]: Cache folder exceeded CacheWarnAt limit {0} {1}.  Suggest increasing tiers, tier length, or reducing cache expiration", dir, dirSize);
+                m_log.Warn(
+                    string.Format("[FLOTSAM ASSET CACHE]: Could not complete clean of expired files in {0}, exception  ", dir), e);
             }
         }
 
@@ -684,7 +695,7 @@ namespace OpenSim.Region.CoreModules.Asset
                 }
                 catch (IOException e)
                 {
-                    m_log.ErrorFormat(
+                    m_log.WarnFormat(
                         "[FLOTSAM ASSET CACHE]: Failed to write asset {0} to temporary location {1} (final {2}) on cache in {3}.  Exception {4} {5}.",
                         asset.ID, tempname, filename, directory, e.Message, e.StackTrace);
 
@@ -763,17 +774,31 @@ namespace OpenSim.Region.CoreModules.Asset
         /// <summary>
         /// This notes the last time the Region had a deep asset scan performed on it.
         /// </summary>
-        /// <param name="RegionID"></param>
-        private void StampRegionStatusFile(UUID RegionID)
+        /// <param name="regionID"></param>
+        private void StampRegionStatusFile(UUID regionID)
         {
-            string RegionCacheStatusFile = Path.Combine(m_CacheDirectory, "RegionStatus_" + RegionID.ToString() + ".fac");
-            if (File.Exists(RegionCacheStatusFile))
+            string RegionCacheStatusFile = Path.Combine(m_CacheDirectory, "RegionStatus_" + regionID.ToString() + ".fac");
+
+            try 
             {
-                File.SetLastWriteTime(RegionCacheStatusFile, DateTime.Now);
+                if (File.Exists(RegionCacheStatusFile))
+                {
+                    File.SetLastWriteTime(RegionCacheStatusFile, DateTime.Now);
+                }
+                else
+                {
+                    File.WriteAllText(
+                        RegionCacheStatusFile, 
+                        "Please do not delete this file unless you are manually clearing your Flotsam Asset Cache.");
+                }
             }
-            else
+            catch (Exception e)
             {
-                File.WriteAllText(RegionCacheStatusFile, "Please do not delete this file unless you are manually clearing your Flotsam Asset Cache.");
+                m_log.Warn(
+                    string.Format(
+                        "[FLOTSAM ASSET CACHE]: Could not stamp region status file for region {0}.  Exception  ", 
+                        regionID), 
+                    e);
             }
         }
 
@@ -790,32 +815,43 @@ namespace OpenSim.Region.CoreModules.Asset
         {
             UuidGatherer gatherer = new UuidGatherer(m_AssetService);
 
+            HashSet<UUID> uniqueUuids = new HashSet<UUID>();
             Dictionary<UUID, AssetType> assets = new Dictionary<UUID, AssetType>();
+
             foreach (Scene s in m_Scenes)
             {
                 StampRegionStatusFile(s.RegionInfo.RegionID);
 
                 s.ForEachSOG(delegate(SceneObjectGroup e)
-                {
+                {                   
                     gatherer.GatherAssetUuids(e, assets);
-                });
-            }
 
-            foreach (UUID assetID in assets.Keys)
-            {
-                string filename = GetFileName(assetID.ToString());
+                    foreach (UUID assetID in assets.Keys)
+                    {
+                        uniqueUuids.Add(assetID);
 
-                if (File.Exists(filename))
-                {
-                    File.SetLastAccessTime(filename, DateTime.Now);
-                }
-                else if (storeUncached)
-                {
-                    m_AssetService.Get(assetID.ToString());
-                }
+                        string filename = GetFileName(assetID.ToString());
+
+                        if (File.Exists(filename))
+                        {
+                            File.SetLastAccessTime(filename, DateTime.Now);
+                        }
+                        else if (storeUncached)
+                        {
+                            AssetBase cachedAsset = m_AssetService.Get(assetID.ToString());
+                            if (cachedAsset == null && assets[assetID] != AssetType.Unknown)
+                                m_log.DebugFormat(
+                                "[FLOTSAM ASSET CACHE]: Could not find asset {0}, type {1} referenced by object {2} at {3} in scene {4} when pre-caching all scene assets",
+                                    assetID, assets[assetID], e.Name, e.AbsolutePosition, s.Name);
+                        }
+                    }
+
+                    assets.Clear();
+                });
             }
 
-            return assets.Keys.Count;
+
+            return uniqueUuids.Count;
         }
 
         /// <summary>
@@ -831,7 +867,7 @@ namespace OpenSim.Region.CoreModules.Asset
                 }
                 catch (Exception e)
                 {
-                    m_log.ErrorFormat(
+                    m_log.WarnFormat(
                         "[FLOTSAM ASSET CACHE]: Couldn't clear asset cache directory {0} from {1}.  Exception {2} {3}",
                         dir, m_CacheDirectory, e.Message, e.StackTrace);
                 }
@@ -845,7 +881,7 @@ namespace OpenSim.Region.CoreModules.Asset
                 }
                 catch (Exception e)
                 {
-                    m_log.ErrorFormat(
+                    m_log.WarnFormat(
                         "[FLOTSAM ASSET CACHE]: Couldn't clear asset cache file {0} from {1}.  Exception {1} {2}",
                         file, m_CacheDirectory, e.Message, e.StackTrace);
                 }
diff --git a/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs b/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs
index 1c2bfd0..fd02b08 100644
--- a/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs
+++ b/OpenSim/Region/CoreModules/Asset/Tests/FlotsamAssetCacheTests.cs
@@ -47,14 +47,16 @@ namespace OpenSim.Region.CoreModules.Asset.Tests
     /// At the moment we're only test the in-memory part of the FlotsamAssetCache.  This is a considerable weakness.
     /// </summary>
     [TestFixture]
-    public class FlotsamAssetCacheTests
+    public class FlotsamAssetCacheTests : OpenSimTestCase
     {
         protected TestScene m_scene;
         protected FlotsamAssetCache m_cache;
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource config = new IniConfigSource();
 
             config.AddConfig("Modules");
diff --git a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
index acd156e..6323160 100644
--- a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
@@ -722,15 +722,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
 
             if (!silent)
             {
-                // Killing it here will cause the client to deselect it
-                // It then reappears on the avatar, deselected
-                // through the full update below
-                //
-                if (so.IsSelected)
-                {
-                    m_scene.SendKillObject(new List<uint> { so.RootPart.LocalId });
-                }
-                else if (so.HasPrivateAttachmentPoint)
+                if (so.HasPrivateAttachmentPoint)
                 {
 //                    m_log.DebugFormat(
 //                        "[ATTACHMENTS MODULE]: Killing private HUD {0} for avatars other than {1} at attachment point {2}",
@@ -745,7 +737,10 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
                             });
                 }
 
-                so.IsSelected = false; // fudge....
+                // Fudge below is an extremely unhelpful comment.  It's probably here so that the scheduled full update
+                // will succeed, as that will not update if an attachment is selected.
+                so.IsSelected = false; // fudge.... 
+
                 so.ScheduleGroupForFullUpdate();
             }
 
diff --git a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
index 1adff7e..208bc9e 100644
--- a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs
@@ -322,6 +322,9 @@ namespace OpenSim.Region.CoreModules.Avatar.AvatarFactory
 
                 if (asset != null)
                 {
+                    // Replace an HG ID with the simple asset ID so that we can persist textures for foreign HG avatars
+                    asset.ID = asset.FullID.ToString();
+
                     asset.Temporary = false;
                     asset.Local = false;
                     m_scene.AssetService.Store(asset);
diff --git a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/Tests/AvatarFactoryModuleTests.cs b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/Tests/AvatarFactoryModuleTests.cs
index e21547c..f090e15 100644
--- a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/Tests/AvatarFactoryModuleTests.cs
+++ b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/Tests/AvatarFactoryModuleTests.cs
@@ -39,7 +39,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.CoreModules.Avatar.AvatarFactory
 {
     [TestFixture]
-    public class AvatarFactoryModuleTests
+    public class AvatarFactoryModuleTests : OpenSimTestCase
     {
         /// <summary>
         /// Only partial right now since we don't yet test that it's ended up in the avatar appearance service.
diff --git a/OpenSim/Region/CoreModules/Avatar/Friends/Tests/FriendModuleTests.cs b/OpenSim/Region/CoreModules/Avatar/Friends/Tests/FriendModuleTests.cs
index 7a197f7..961117e 100644
--- a/OpenSim/Region/CoreModules/Avatar/Friends/Tests/FriendModuleTests.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Friends/Tests/FriendModuleTests.cs
@@ -40,7 +40,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.CoreModules.Avatar.Friends.Tests
 {
     [TestFixture]
-    public class FriendsModuleTests
+    public class FriendsModuleTests : OpenSimTestCase
     {
         private FriendsModule m_fm;
         private TestScene m_scene;
diff --git a/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs b/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
index cc266df..1627f6c 100644
--- a/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/InstantMessage/MessageTransferModule.cs
@@ -153,7 +153,7 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                 if (sp != null && !sp.IsChildAgent)
                 {
                     // Local message
-                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to root agent {0} {1}", sp.Name, toAgentID);
+//                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to root agent {0} {1}", sp.Name, toAgentID);
 
                     sp.ControllingClient.SendInstantMessage(im);
 
@@ -166,14 +166,14 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
             // try child avatar second
             foreach (Scene scene in m_Scenes)
             {
-                //m_log.DebugFormat(
-                //    "[INSTANT MESSAGE]: Looking for child of {0} in {1}", toAgentID, scene.RegionInfo.RegionName);
+//                m_log.DebugFormat(
+//                    "[INSTANT MESSAGE]: Looking for child of {0} in {1}", toAgentID, scene.RegionInfo.RegionName);
 
                 ScenePresence sp = scene.GetScenePresence(toAgentID);
                 if (sp != null)
                 {
                     // Local message
-                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to child agent {0} {1}", sp.Name, toAgentID);
+//                    m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to child agent {0} {1}", sp.Name, toAgentID);
 
                     sp.ControllingClient.SendInstantMessage(im);
 
@@ -183,7 +183,7 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                 }
             }
 
-            m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to {0} via XMLRPC", im.toAgentID);
+//            m_log.DebugFormat("[INSTANT MESSAGE]: Delivering IM to {0} via XMLRPC", im.toAgentID);
 
             SendGridInstantMessageViaXMLRPC(im, result);
         }
diff --git a/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs b/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
index 3a44cc5..2d46276 100644
--- a/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs
@@ -189,20 +189,24 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
                 {
                     foreach (GridInstantMessage im in msglist)
                     {
-                        // client.SendInstantMessage(im);
-
-                        // Send through scene event manager so all modules get a chance
-                        // to look at this message before it gets delivered.
-                        //
-                        // Needed for proper state management for stored group
-                        // invitations
-                        //
-
-                        im.offline = 1;
-
-                        Scene s = FindScene(client.AgentId);
-                        if (s != null)
-                            s.EventManager.TriggerIncomingInstantMessage(im);
+                        if (im.dialog == (byte)InstantMessageDialog.InventoryOffered)
+                            // send it directly or else the item will be given twice
+                            client.SendInstantMessage(im);
+                        else
+                        {
+                            // Send through scene event manager so all modules get a chance
+                            // to look at this message before it gets delivered.
+                            //
+                            // Needed for proper state management for stored group
+                            // invitations
+                            //
+
+                            im.offline = 1;
+
+                            Scene s = FindScene(client.AgentId);
+                            if (s != null)
+                                s.EventManager.TriggerIncomingInstantMessage(im);
+                        }
                     }
                 }
             }
diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs
index dc2b0e0..6c3ac0c 100644
--- a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs
@@ -487,6 +487,14 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
                         {
 //                            m_log.DebugFormat(
 //                                "[INVENTORY ARCHIVER]: Loaded coalescence {0} has {1} objects", assetId, coa.Count);
+
+                            if (coa.Objects.Count == 0)
+                            {
+                                m_log.WarnFormat(
+                                    "[INVENTORY ARCHIVE READ REQUEST]: Aborting load of coalesced object from asset {0} as it has zero loaded components", 
+                                    assetId);
+                                return false;
+                            }
                             
                             sceneObjects.AddRange(coa.Objects);
                         }
@@ -495,7 +503,17 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
                             SceneObjectGroup deserializedObject = SceneObjectSerializer.FromOriginalXmlFormat(xmlData);
 
                             if (deserializedObject != null)
+                            {
                                 sceneObjects.Add(deserializedObject);
+                            }
+                            else
+                            {
+                                m_log.WarnFormat(
+                                    "[INVENTORY ARCHIVE READ REQUEST]: Aborting load of object from asset {0} as deserialization failed", 
+                                    assetId);
+
+                                return false;
+                            }
                         }
                         
                         foreach (SceneObjectGroup sog in sceneObjects)
diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs
index d0e88f6..4c85637 100644
--- a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveWriteRequest.cs
@@ -124,7 +124,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
             SaveAssets = true;
         }
 
-        protected void ReceivedAllAssets(ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids)
+        protected void ReceivedAllAssets(ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids, bool timedOut)
         {
             Exception reportedException = null;
             bool succeeded = true;
@@ -143,6 +143,12 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
                 m_saveStream.Close();
             }
 
+            if (timedOut)
+            {
+                succeeded = false;
+                reportedException = new Exception("Loading assets timed out");
+            }
+
             m_module.TriggerInventoryArchiveSaved(
                 m_id, succeeded, m_userInfo, m_invPath, m_saveStream, reportedException);
         }
@@ -350,7 +356,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
                 {
                     m_log.DebugFormat("[INVENTORY ARCHIVER]: Not saving assets since --noassets was specified");
 
-                    ReceivedAllAssets(new List<UUID>(), new List<UUID>());
+                    ReceivedAllAssets(new List<UUID>(), new List<UUID>(), false);
                 }
             }
             catch (Exception)
diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
index 4cfa33d..ae58dfd 100644
--- a/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs
@@ -316,76 +316,74 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
                 }
             }
 
-            // Disabled for now as it looks like http://opensimulator.org/mantis/view.php?id=6311 was fixed by fixes
-            // to inventory folder versioning allowing the viewer to move the received folder itself as happens on the 
-            // LL grid.  Doing it again server-side then wrongly does a second create and move
-//            // XXX: This code was placed here to try and accomdate RLV which moves given folders named #RLV/~<name>
-//            // to a folder called name in #RLV.  However, this approach may not be ultimately correct - from analysis
-//            // of Firestorm 4.2.2 on sending an InventoryOffered instead of TaskInventoryOffered (as was previously
-//            // done), the viewer itself would appear to move and rename the folder, rather than the simulator doing it here.
-//            else if (im.dialog == (byte) InstantMessageDialog.TaskInventoryAccepted)
-//            {
-//                UUID destinationFolderID = UUID.Zero;
-//
-//                if (im.binaryBucket != null && im.binaryBucket.Length >= 16)
-//                {
-//                    destinationFolderID = new UUID(im.binaryBucket, 0);
-//                }
-//
-//                if (destinationFolderID != UUID.Zero)
-//                {
-//                    InventoryFolderBase destinationFolder = new InventoryFolderBase(destinationFolderID, client.AgentId);
-//                    if (destinationFolder == null)
-//                    {
-//                        m_log.WarnFormat(
-//                            "[INVENTORY TRANSFER]: TaskInventoryAccepted message from {0} in {1} specified folder {2} which does not exist",
-//                            client.Name, scene.Name, destinationFolderID);
-//
-//                        return;
-//                    }
-//
-//                    IInventoryService invService = scene.InventoryService;
-//
-//                    UUID inventoryID = new UUID(im.imSessionID); // The inventory item/folder, back from it's trip
-//
-//                    InventoryItemBase item = new InventoryItemBase(inventoryID, client.AgentId);
-//                    item = invService.GetItem(item);
-//                    InventoryFolderBase folder = null;
-//                    UUID? previousParentFolderID = null;
-//
-//                    if (item != null) // It's an item
-//                    {
-//                        previousParentFolderID = item.Folder;
-//                        item.Folder = destinationFolderID;
-//
-//                        invService.DeleteItems(item.Owner, new List<UUID>() { item.ID });
-//                        scene.AddInventoryItem(client, item);
-//                    }
-//                    else
-//                    {
-//                        folder = new InventoryFolderBase(inventoryID, client.AgentId);
-//                        folder = invService.GetFolder(folder);
-//
-//                        if (folder != null) // It's a folder
-//                        {
-//                            previousParentFolderID = folder.ParentID;
-//                            folder.ParentID = destinationFolderID;
-//                            invService.MoveFolder(folder);
-//                        }
-//                    }
-//
-//                    // Tell client about updates to original parent and new parent (this should probably be factored with existing move item/folder code).
-//                    if (previousParentFolderID != null)
-//                    {
-//                        InventoryFolderBase previousParentFolder
-//                            = new InventoryFolderBase((UUID)previousParentFolderID, client.AgentId);
-//                        previousParentFolder = invService.GetFolder(previousParentFolder);
-//                        scene.SendInventoryUpdate(client, previousParentFolder, true, true);
-//
-//                        scene.SendInventoryUpdate(client, destinationFolder, true, true);
-//                    }
-//                }
-//            }
+            // XXX: This code was placed here to try and accomodate RLV which moves given folders named #RLV/~<name>
+            // to the requested folder, which in this case is #RLV.  However, it is the viewer that appears to be 
+            // response from renaming the #RLV/~example folder to ~example.  For some reason this is not yet 
+            // happening, possibly because we are not sending the correct inventory update messages with the correct
+            // transaction IDs
+            else if (im.dialog == (byte) InstantMessageDialog.TaskInventoryAccepted)
+            {
+                UUID destinationFolderID = UUID.Zero;
+
+                if (im.binaryBucket != null && im.binaryBucket.Length >= 16)
+                {
+                    destinationFolderID = new UUID(im.binaryBucket, 0);
+                }
+
+                if (destinationFolderID != UUID.Zero)
+                {
+                    InventoryFolderBase destinationFolder = new InventoryFolderBase(destinationFolderID, client.AgentId);
+                    if (destinationFolder == null)
+                    {
+                        m_log.WarnFormat(
+                            "[INVENTORY TRANSFER]: TaskInventoryAccepted message from {0} in {1} specified folder {2} which does not exist",
+                            client.Name, scene.Name, destinationFolderID);
+
+                        return;
+                    }
+
+                    IInventoryService invService = scene.InventoryService;
+
+                    UUID inventoryID = new UUID(im.imSessionID); // The inventory item/folder, back from it's trip
+
+                    InventoryItemBase item = new InventoryItemBase(inventoryID, client.AgentId);
+                    item = invService.GetItem(item);
+                    InventoryFolderBase folder = null;
+                    UUID? previousParentFolderID = null;
+
+                    if (item != null) // It's an item
+                    {
+                        previousParentFolderID = item.Folder;
+                        item.Folder = destinationFolderID;
+
+                        invService.DeleteItems(item.Owner, new List<UUID>() { item.ID });
+                        scene.AddInventoryItem(client, item);
+                    }
+                    else
+                    {
+                        folder = new InventoryFolderBase(inventoryID, client.AgentId);
+                        folder = invService.GetFolder(folder);
+
+                        if (folder != null) // It's a folder
+                        {
+                            previousParentFolderID = folder.ParentID;
+                            folder.ParentID = destinationFolderID;
+                            invService.MoveFolder(folder);
+                        }
+                    }
+
+                    // Tell client about updates to original parent and new parent (this should probably be factored with existing move item/folder code).
+                    if (previousParentFolderID != null)
+                    {
+                        InventoryFolderBase previousParentFolder
+                            = new InventoryFolderBase((UUID)previousParentFolderID, client.AgentId);
+                        previousParentFolder = invService.GetFolder(previousParentFolder);
+                        scene.SendInventoryUpdate(client, previousParentFolder, true, true);
+
+                        scene.SendInventoryUpdate(client, destinationFolder, true, true);
+                    }
+                }
+            }
             else if (
                 im.dialog == (byte)InstantMessageDialog.InventoryDeclined
                 || im.dialog == (byte)InstantMessageDialog.TaskInventoryDeclined)
diff --git a/OpenSim/Region/CoreModules/Framework/DynamicAttributes/DAExampleModule.cs b/OpenSim/Region/CoreModules/Framework/DynamicAttributes/DAExampleModule.cs
new file mode 100644
index 0000000..d36f65a
--- /dev/null
+++ b/OpenSim/Region/CoreModules/Framework/DynamicAttributes/DAExampleModule.cs
@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using log4net;
+using Mono.Addins;
+using Nini.Config;
+using OpenMetaverse;
+using OpenMetaverse.Packets;
+using OpenMetaverse.StructuredData;
+using OpenSim.Framework;
+using OpenSim.Region.Framework;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Framework.Scenes;
+
+namespace OpenSim.Region.Framework.DynamicAttributes.DAExampleModule
+{
+    [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "DAExampleModule")]
+    public class DAExampleModule : INonSharedRegionModule
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private static readonly bool ENABLED = false;   // enable for testing
+
+        protected Scene m_scene;
+        protected IDialogModule m_dialogMod;
+        
+        public string Name { get { return "DAExample Module"; } }        
+        public Type ReplaceableInterface { get { return null; } }        
+
+        public void Initialise(IConfigSource source) {}
+        
+        public void AddRegion(Scene scene)
+        {
+            if (ENABLED)
+            {
+                m_scene = scene;
+                m_scene.EventManager.OnSceneGroupMove += OnSceneGroupMove;
+                m_dialogMod = m_scene.RequestModuleInterface<IDialogModule>();
+            }
+        }
+        
+        public void RemoveRegion(Scene scene) 
+        {
+            if (ENABLED)
+            {
+                m_scene.EventManager.OnSceneGroupMove -= OnSceneGroupMove;
+            }
+        }
+        
+        public void RegionLoaded(Scene scene) {}
+        
+        public void Close() 
+        {
+            RemoveRegion(m_scene);
+        }
+        
+        protected bool OnSceneGroupMove(UUID groupId, Vector3 delta)
+        {
+            OSDMap attrs = null;
+            SceneObjectPart sop = m_scene.GetSceneObjectPart(groupId);
+            if (!sop.DynAttrs.TryGetValue(Name, out attrs))
+                attrs = new OSDMap();
+            
+            OSDInteger newValue;
+                
+            if (!attrs.ContainsKey("moves"))
+                newValue = new OSDInteger(1);
+            else
+                newValue = new OSDInteger(((OSDInteger)attrs["moves"]).AsInteger() + 1);
+                    
+            attrs["moves"] = newValue;
+
+            sop.DynAttrs[Name] = attrs;
+    
+            m_dialogMod.SendGeneralAlert(string.Format("{0} {1} moved {2} times", sop.Name, sop.UUID, newValue));
+            
+            return true;
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/CoreModules/Framework/EntityTransfer/HGEntityTransferModule.cs b/OpenSim/Region/CoreModules/Framework/EntityTransfer/HGEntityTransferModule.cs
index f3a0b01..9b78b3b 100644
--- a/OpenSim/Region/CoreModules/Framework/EntityTransfer/HGEntityTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/EntityTransfer/HGEntityTransferModule.cs
@@ -212,11 +212,11 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
         protected override GridRegion GetFinalDestination(GridRegion region)
         {
             int flags = Scene.GridService.GetRegionFlags(Scene.RegionInfo.ScopeID, region.RegionID);
-            m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: region {0} flags: {1}", region.RegionID, flags);
+            m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: region {0} flags: {1}", region.RegionName, flags);
 
             if ((flags & (int)OpenSim.Framework.RegionFlags.Hyperlink) != 0)
             {
-                m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: Destination region {0} is hyperlink", region.RegionID);
+                m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: Destination region is hyperlink");
                 GridRegion real_destination = m_GatekeeperConnector.GetHyperlinkRegion(region, region.RegionID);
                 if (real_destination != null)
                     m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: GetFinalDestination serveruri -> {0}", real_destination.ServerURI);
diff --git a/OpenSim/Region/CoreModules/Framework/InterfaceCommander/Command.cs b/OpenSim/Region/CoreModules/Framework/InterfaceCommander/Command.cs
index 4004135..b9786ae 100644
--- a/OpenSim/Region/CoreModules/Framework/InterfaceCommander/Command.cs
+++ b/OpenSim/Region/CoreModules/Framework/InterfaceCommander/Command.cs
@@ -28,6 +28,7 @@
 using System;
 using System.Collections.Generic;
 using OpenSim.Region.Framework.Interfaces;
+using OpenMetaverse;
 
 namespace OpenSim.Region.CoreModules.Framework.InterfaceCommander
 {
@@ -152,6 +153,9 @@ namespace OpenSim.Region.CoreModules.Framework.InterfaceCommander
                         case "Boolean":
                             m_args[i].ArgumentValue = Boolean.Parse(arg.ToString());
                             break;
+                        case "UUID":
+                            m_args[i].ArgumentValue = UUID.Parse(arg.ToString());
+                            break;
                         default:
                             Console.WriteLine("ERROR: Unknown desired type for argument " + m_args[i].Name + " on command " + m_name);
                             break;
diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs
index f8ec6de..7871eda 100644
--- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs
+++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs
@@ -71,7 +71,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
 
         #region Internal functions
 
-        public AssetMetadata FetchMetadata(string url, UUID assetID)
+        private AssetMetadata FetchMetadata(string url, UUID assetID)
         {
             if (!url.EndsWith("/") && !url.EndsWith("="))
                 url = url + "/";
@@ -86,6 +86,27 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
             return meta;
         }
 
+        private AssetBase FetchAsset(string url, UUID assetID)
+        {
+            // Test if it's already here
+            AssetBase asset = m_scene.AssetService.Get(assetID.ToString());
+            if (asset == null)
+            {
+                if (!url.EndsWith("/") && !url.EndsWith("="))
+                    url = url + "/";
+
+                asset = m_scene.AssetService.Get(url + assetID.ToString());
+
+                //if (asset != null)
+                //    m_log.DebugFormat("[HG ASSET MAPPER]: Fetched asset {0} of type {1} from {2} ", assetID, asset.Metadata.Type, url);
+                //else
+                //    m_log.DebugFormat("[HG ASSET MAPPER]: Unable to fetch asset {0} from {1} ", assetID, url);
+
+            }
+
+            return asset;
+        }
+
         public bool PostAsset(string url, AssetBase asset)
         {
             if (asset != null)
@@ -228,11 +249,22 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
             if (meta == null)
                 return;
 
-            // The act of gathering UUIDs downloads the assets from the remote server
+            // The act of gathering UUIDs downloads some assets from the remote server
+            // but not all...
             Dictionary<UUID, AssetType> ids = new Dictionary<UUID, AssetType>();
             HGUuidGatherer uuidGatherer = new HGUuidGatherer(m_scene.AssetService, userAssetURL);
             uuidGatherer.GatherAssetUuids(assetID, (AssetType)meta.Type, ids);
-
+            m_log.DebugFormat("[HG ASSET MAPPER]: Preparing to get {0} assets", ids.Count);
+            bool success = true;
+            foreach (UUID uuid in ids.Keys)
+                if (FetchAsset(userAssetURL, uuid) == null)
+                    success = false;
+
+            // maybe all pieces got here...
+            if (!success)
+                m_log.DebugFormat("[HG ASSET MAPPER]: Problems getting item {0} from asset server {1}", assetID, userAssetURL);
+            else
+                m_log.DebugFormat("[HG ASSET MAPPER]: Successfully got item {0} from asset server {1}", assetID, userAssetURL);
         }
 
 
diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs
index 21d8bd7..ac25a93 100644
--- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs
+++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/Tests/InventoryAccessModuleTests.cs
@@ -49,7 +49,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.CoreModules.Framework.InventoryAccess.Tests
 {
     [TestFixture]
-    public class InventoryAccessModuleTests
+    public class InventoryAccessModuleTests : OpenSimTestCase
     {      
         protected TestScene m_scene;
         protected BasicInventoryAccessModule m_iam;
@@ -57,8 +57,10 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess.Tests
         protected TestClient m_tc;
             
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             m_iam = new BasicInventoryAccessModule();
 
             IConfigSource config = new IniConfigSource();
diff --git a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs
index 86e7004..77e8b00 100644
--- a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs
@@ -181,6 +181,7 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement
 
             m_log.DebugFormat("[USER MANAGEMENT MODULE]: HandleAvatarPickerRequest for {0}", query);
 
+            // searhc the user accounts service
             List<UserAccount> accs = m_Scenes[0].UserAccountService.GetUserAccounts(m_Scenes[0].RegionInfo.ScopeID, query);
 
             List<UserData> users = new List<UserData>();
@@ -196,6 +197,12 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement
                 }
             }
 
+            // search the local cache
+            foreach (UserData data in m_UserCache.Values)
+                if (users.Find(delegate(UserData d) { return d.Id == data.Id; }) == null &&
+                    (data.FirstName.StartsWith(query) || data.LastName.StartsWith(query)))
+                    users.Add(data);
+
             AddAdditionalUsers(avatarID, query, users);
 
             AvatarPickerReplyPacket replyPacket = (AvatarPickerReplyPacket)PacketPool.Instance.GetPacket(PacketType.AvatarPickerReply);
@@ -433,6 +440,9 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement
         public void AddUser(UUID uuid, string first, string last, string homeURL)
         {
             //m_log.DebugFormat("[USER MANAGEMENT MODULE]: Adding user with id {0}, first {1}, last {2}, url {3}", uuid, first, last, homeURL);
+            if (homeURL == string.Empty)
+                return;
+
             AddUser(uuid, homeURL + ";" + first + " " + last);
         }
 
diff --git a/OpenSim/Region/CoreModules/Properties/AssemblyInfo.cs b/OpenSim/Region/CoreModules/Properties/AssemblyInfo.cs
index 5a8c4a2..f6353f9 100644
--- a/OpenSim/Region/CoreModules/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/CoreModules/Properties/AssemblyInfo.cs
@@ -30,7 +30,7 @@ using Mono.Addins;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
 
 [assembly: Addin("OpenSim.Region.CoreModules", "0.1")]
diff --git a/OpenSim/Region/CoreModules/Scripting/LSLHttp/UrlModule.cs b/OpenSim/Region/CoreModules/Scripting/LSLHttp/UrlModule.cs
index da59eab..60b7190 100644
--- a/OpenSim/Region/CoreModules/Scripting/LSLHttp/UrlModule.cs
+++ b/OpenSim/Region/CoreModules/Scripting/LSLHttp/UrlModule.cs
@@ -301,6 +301,21 @@ namespace OpenSim.Region.CoreModules.Scripting.LSLHttp
                     UrlData urlData = m_RequestMap[request];
                     if (!urlData.requests[request].responseSent)
                     {
+                        string responseBody = body;
+                        if (urlData.requests[request].responseType.Equals("text/plain"))
+                        {
+                            string value;
+                            if (urlData.requests[request].headers.TryGetValue("user-agent", out value))
+                            {
+                                if (value != null && value.IndexOf("MSIE") >= 0)
+                                {
+                                    // wrap the html escaped response if the target client is IE
+                                    // It ignores "text/plain" if the body is html
+                                    responseBody = "<html>" + System.Web.HttpUtility.HtmlEncode(body) + "</html>";
+                                }
+                            }
+                        }
+
                         urlData.requests[request].responseCode = status;
                         urlData.requests[request].responseBody = body;
                         //urlData.requests[request].ev.Set();
diff --git a/OpenSim/Region/CoreModules/Scripting/ScriptModuleComms/ScriptModuleCommsModule.cs b/OpenSim/Region/CoreModules/Scripting/ScriptModuleComms/ScriptModuleCommsModule.cs
index f6e1d39..6bf50d2 100644
--- a/OpenSim/Region/CoreModules/Scripting/ScriptModuleComms/ScriptModuleCommsModule.cs
+++ b/OpenSim/Region/CoreModules/Scripting/ScriptModuleComms/ScriptModuleCommsModule.cs
@@ -41,7 +41,7 @@ using System.Linq.Expressions;
 namespace OpenSim.Region.CoreModules.Scripting.ScriptModuleComms
 {
     [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "ScriptModuleCommsModule")]
-    class ScriptModuleCommsModule : INonSharedRegionModule, IScriptModuleComms
+    public class ScriptModuleCommsModule : INonSharedRegionModule, IScriptModuleComms
     {
         private static readonly ILog m_log =
             LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/MapImage/MapImageServiceModule.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/MapImage/MapImageServiceModule.cs
index 5836eb9..b61062f 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/MapImage/MapImageServiceModule.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/MapImage/MapImageServiceModule.cs
@@ -75,7 +75,6 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.MapImage
         public void Close() { }
         public void PostInitialise() { }
 
-        
         ///<summary>
         ///
         ///</summary>
@@ -136,7 +135,7 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.MapImage
         ///</summary>
         public void AddRegion(Scene scene)
         {
-            if (! m_enabled)
+            if (!m_enabled)
                 return;
 
             // Every shared region module has to maintain an indepedent list of
@@ -209,6 +208,11 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.MapImage
 
             using (Image mapTile = tileGenerator.CreateMapTile())
             {
+                // XXX: The MapImageModule will return a null if the user has chosen not to create map tiles and there
+                // is no static map tile.
+                if (mapTile == null)
+                    return;
+
                 using (MemoryStream stream = new MemoryStream())
                 {
                     mapTile.Save(stream, ImageFormat.Jpeg);
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs
index 32e47f9..69bac82 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Presence/Tests/PresenceConnectorsTests.cs
@@ -35,7 +35,6 @@ using NUnit.Framework;
 using OpenMetaverse;
 using OpenSim.Framework;
 using Nini.Config;
-
 using OpenSim.Region.CoreModules.ServiceConnectorsOut.Presence;
 using OpenSim.Region.Framework.Scenes;
 using PresenceInfo = OpenSim.Services.Interfaces.PresenceInfo;
@@ -44,11 +43,14 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Presence.Tests
 {
     [TestFixture]
-    public class PresenceConnectorsTests
+    public class PresenceConnectorsTests : OpenSimTestCase
     {
         LocalPresenceServicesConnector m_LocalConnector;
-        private void SetUp()
+
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource config = new IniConfigSource();
             config.AddConfig("Modules");
             config.AddConfig("PresenceService");
diff --git a/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs b/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
index ade5e76..fcfdf7c 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
@@ -570,13 +570,22 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                 
                 // Validate User and Group UUID's
 
-                if (!ResolveUserUuid(scene, parcel.OwnerID))
-                    parcel.OwnerID = m_rootScene.RegionInfo.EstateSettings.EstateOwner;
-
-                if (!ResolveGroupUuid(parcel.GroupID))
+                if (parcel.IsGroupOwned)
+                {
+                    if (!ResolveGroupUuid(parcel.GroupID))
+                    {
+                        parcel.OwnerID = m_rootScene.RegionInfo.EstateSettings.EstateOwner;
+                        parcel.GroupID = UUID.Zero;
+                        parcel.IsGroupOwned = false;
+                    }
+                }
+                else
                 {
-                    parcel.GroupID = UUID.Zero;
-                    parcel.IsGroupOwned = false;
+                    if (!ResolveUserUuid(scene, parcel.OwnerID))
+                        parcel.OwnerID = m_rootScene.RegionInfo.EstateSettings.EstateOwner;
+
+                    if (!ResolveGroupUuid(parcel.GroupID))
+                        parcel.GroupID = UUID.Zero;
                 }
 
                 List<LandAccessEntry> accessList = new List<LandAccessEntry>();
@@ -589,8 +598,8 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                 parcel.ParcelAccessList = accessList;
 
 //                m_log.DebugFormat(
-//                    "[ARCHIVER]: Adding parcel {0}, local id {1}, area {2}", 
-//                    parcel.Name, parcel.LocalID, parcel.Area);
+//                    "[ARCHIVER]: Adding parcel {0}, local id {1}, owner {2}, group {3}, isGroupOwned {4}, area {5}", 
+//                    parcel.Name, parcel.LocalID, parcel.OwnerID, parcel.GroupID, parcel.IsGroupOwned, parcel.Area);
                 
                 landData.Add(parcel);
             }
@@ -613,13 +622,18 @@ namespace OpenSim.Region.CoreModules.World.Archiver
         /// <returns></returns>
         private bool ResolveUserUuid(Scene scene, UUID uuid)
         {
-            if (!m_validUserUuids.ContainsKey(uuid))
+            lock (m_validUserUuids)
             {
-                UserAccount account = scene.UserAccountService.GetUserAccount(scene.RegionInfo.ScopeID, uuid);
-                m_validUserUuids.Add(uuid, account != null);
-            }
+                if (!m_validUserUuids.ContainsKey(uuid))
+                {
+                    // Note: we call GetUserAccount() inside the lock because this UserID is likely
+                    // to occur many times, and we only want to query the users service once.
+                    UserAccount account = scene.UserAccountService.GetUserAccount(scene.RegionInfo.ScopeID, uuid);
+                    m_validUserUuids.Add(uuid, account != null);
+                }
 
-            return m_validUserUuids[uuid];
+                return m_validUserUuids[uuid];
+            }
         }
 
         /// <summary>
@@ -632,19 +646,26 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             if (uuid == UUID.Zero)
                 return true;    // this means the object has no group
 
-            if (!m_validGroupUuids.ContainsKey(uuid))
+            lock (m_validGroupUuids)
             {
-                bool exists;
-                
-                if (m_groupsModule == null)
-                    exists = false;
-                else
-                    exists = (m_groupsModule.GetGroupRecord(uuid) != null);
+                if (!m_validGroupUuids.ContainsKey(uuid))
+                {
+                    bool exists;
+                    if (m_groupsModule == null)
+                    {
+                        exists = false;
+                    }
+                    else
+                    {
+                        // Note: we call GetGroupRecord() inside the lock because this GroupID is likely
+                        // to occur many times, and we only want to query the groups service once.
+                        exists = (m_groupsModule.GetGroupRecord(uuid) != null);
+                    }
+                    m_validGroupUuids.Add(uuid, exists);
+                }
 
-                m_validGroupUuids.Add(uuid, exists);
+                return m_validGroupUuids[uuid];
             }
-
-            return m_validGroupUuids[uuid];
         }
 
         /// Load an asset
diff --git a/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequest.cs b/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequest.cs
index d751b1c..367693d 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequest.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/ArchiveWriteRequest.cs
@@ -167,7 +167,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             }
             scenesGroup.CalcSceneLocations();
 
-
             m_archiveWriter = new TarArchiveWriter(m_saveStream);
 
             try
@@ -216,7 +215,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             }
         }
 
-
         private void ArchiveOneRegion(Scene scene, string regionDir, Dictionary<UUID, AssetType> assetUuids)
         {
             m_log.InfoFormat("[ARCHIVER]: Writing region {0}", scene.RegionInfo.RegionName);
@@ -540,7 +538,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             xtw.WriteElementString("size_in_meters", string.Format("{0},{1}", size.X, size.Y));
         }
 
-
         protected void Save(Scene scene, List<SceneObjectGroup> sceneObjects, string regionDir)
         {
             if (regionDir != string.Empty)
@@ -560,8 +557,8 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             foreach (ILandObject lo in landObjects)
             {
                 LandData landData = lo.LandData;
-                string landDataPath = String.Format("{0}{1}{2}.xml",
-                    regionDir, ArchiveConstants.LANDDATA_PATH, landData.GlobalID.ToString());
+                string landDataPath 
+                    = String.Format("{0}{1}", regionDir, ArchiveConstants.CreateOarLandDataPath(landData));
                 m_archiveWriter.WriteFile(landDataPath, LandDataSerializer.Serialize(landData, m_options));
             }
 
@@ -590,21 +587,30 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             }
         }
         
-        protected void ReceivedAllAssets(
-            ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids)
+        protected void ReceivedAllAssets(ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids, bool timedOut)
         {
-            foreach (UUID uuid in assetsNotFoundUuids)
+            string errorMessage;
+            
+            if (timedOut)
             {
-                m_log.DebugFormat("[ARCHIVER]: Could not find asset {0}", uuid);
+                errorMessage = "Loading assets timed out";
             }
+            else
+            {
+                foreach (UUID uuid in assetsNotFoundUuids)
+                {
+                    m_log.DebugFormat("[ARCHIVER]: Could not find asset {0}", uuid);
+                }
 
-            //            m_log.InfoFormat(
-            //                "[ARCHIVER]: Received {0} of {1} assets requested",
-            //                assetsFoundUuids.Count, assetsFoundUuids.Count + assetsNotFoundUuids.Count);
+                //            m_log.InfoFormat(
+                //                "[ARCHIVER]: Received {0} of {1} assets requested",
+                //                assetsFoundUuids.Count, assetsFoundUuids.Count + assetsNotFoundUuids.Count);
 
-            CloseArchive(String.Empty);
+                errorMessage = String.Empty;
+            }
+            
+            CloseArchive(errorMessage);
         }
-
         
         /// <summary>
         /// Closes the archive and notifies that we're done.
@@ -629,6 +635,5 @@ namespace OpenSim.Region.CoreModules.World.Archiver
 
             m_rootScene.EventManager.TriggerOarFileSaved(m_requestId, errorMessage);
         }
-
     }
 }
diff --git a/OpenSim/Region/CoreModules/World/Archiver/AssetsArchiver.cs b/OpenSim/Region/CoreModules/World/Archiver/AssetsArchiver.cs
index 95d109c..c1ff94d 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/AssetsArchiver.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/AssetsArchiver.cs
@@ -150,12 +150,5 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                 m_log.InfoFormat("[ARCHIVER]: Added {0} assets to archive", m_assetsWritten);
         }
 
-        /// <summary>
-        /// Only call this if you need to force a close on the underlying writer.
-        /// </summary>
-        public void ForceClose()
-        {
-            m_archiveWriter.Close();
-        }
     }
 }
diff --git a/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs b/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
index e2f8833..715bf51 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/AssetsRequest.cs
@@ -50,7 +50,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
         /// Method called when all the necessary assets for an archive request have been received.
         /// </summary>
         public delegate void AssetsRequestCallback(
-            ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids);
+            ICollection<UUID> assetsFoundUuids, ICollection<UUID> assetsNotFoundUuids, bool timedOut);
 
         enum RequestState
         {
@@ -148,7 +148,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             if (m_repliesRequired == 0)
             {
                 m_requestState = RequestState.Completed;
-                PerformAssetsRequestCallback(null);
+                PerformAssetsRequestCallback(false);
                 return;
             }
 
@@ -164,7 +164,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
 
         protected void OnRequestCallbackTimeout(object source, ElapsedEventArgs args)
         {
-            bool close = true;
+            bool timedOut = true;
 
             try
             {
@@ -174,7 +174,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                     // the final request came in (assuming that such a thing is possible)
                     if (m_requestState == RequestState.Completed)
                     {
-                        close = false;
+                        timedOut = false;
                         return;
                     }
                     
@@ -223,8 +223,8 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             }
             finally
             {
-                if (close)
-                    m_assetsArchiver.ForceClose();
+                if (timedOut)
+                    Util.FireAndForget(PerformAssetsRequestCallback, true);
             }
         }
 
@@ -290,7 +290,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
                         
                         // We want to stop using the asset cache thread asap 
                         // as we now need to do the work of producing the rest of the archive
-                        Util.FireAndForget(PerformAssetsRequestCallback);
+                        Util.FireAndForget(PerformAssetsRequestCallback, false);
                     }
                     else
                     {
@@ -311,9 +311,11 @@ namespace OpenSim.Region.CoreModules.World.Archiver
         {
             Culture.SetCurrentCulture();
 
+            Boolean timedOut = (Boolean)o;
+
             try
             {
-                m_assetsRequestCallback(m_foundAssetUuids, m_notFoundAssetUuids);
+                m_assetsRequestCallback(m_foundAssetUuids, m_notFoundAssetUuids, timedOut);
             }
             catch (Exception e)
             {
diff --git a/OpenSim/Region/CoreModules/World/Archiver/Tests/ArchiverTests.cs b/OpenSim/Region/CoreModules/World/Archiver/Tests/ArchiverTests.cs
index 82f49b0..eec1cec 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/Tests/ArchiverTests.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/Tests/ArchiverTests.cs
@@ -31,16 +31,19 @@ using System.IO;
 using System.Reflection;
 using System.Threading;
 using log4net.Config;
+using Nini.Config;
 using NUnit.Framework;
 using OpenMetaverse;
 using OpenMetaverse.Assets;
 using OpenSim.Framework;
 using OpenSim.Framework.Serialization;
 using OpenSim.Framework.Serialization.External;
+using OpenSim.Region.CoreModules.World.Land;
 using OpenSim.Region.CoreModules.World.Serialiser;
 using OpenSim.Region.CoreModules.World.Terrain;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Scenes.Serialization;
+using OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups;
 using OpenSim.Tests.Common;
 using OpenSim.Tests.Common.Mock;
 using ArchiveConstants = OpenSim.Framework.Serialization.ArchiveConstants;
@@ -69,9 +72,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
         {
             base.SetUp();
 
-            // FIXME: Do something about this - relying on statics in unit tests causes trouble sooner or later
-            new SceneManager();
-
             m_archiverModule = new ArchiverModule();
             m_serialiserModule = new SerialiserModule();
             TerrainModule terrainModule = new TerrainModule();
@@ -127,6 +127,53 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
 
             return new SceneObjectPart(ownerId, shape, groupPosition, rotationOffset, offsetPosition) { Name = partName };
         }
+       
+        private void CreateTestObjects(Scene scene, out SceneObjectGroup sog1, out SceneObjectGroup sog2, out UUID ncAssetUuid)
+        {
+            SceneObjectPart part1 = CreateSceneObjectPart1();
+            sog1 = new SceneObjectGroup(part1);
+            scene.AddNewSceneObject(sog1, false);
+
+            AssetNotecard nc = new AssetNotecard();
+            nc.BodyText = "Hello World!";
+            nc.Encode();
+            ncAssetUuid = UUID.Random();
+            UUID ncItemUuid = UUID.Random();
+            AssetBase ncAsset
+                = AssetHelpers.CreateAsset(ncAssetUuid, AssetType.Notecard, nc.AssetData, UUID.Zero);
+            m_scene.AssetService.Store(ncAsset);
+
+            TaskInventoryItem ncItem
+                = new TaskInventoryItem { Name = "ncItem", AssetID = ncAssetUuid, ItemID = ncItemUuid };
+            SceneObjectPart part2 = CreateSceneObjectPart2();
+            sog2 = new SceneObjectGroup(part2);
+            part2.Inventory.AddInventoryItem(ncItem, true);
+
+            scene.AddNewSceneObject(sog2, false);
+        }
+
+        private static void CreateSoundAsset(TarArchiveWriter tar, Assembly assembly, string soundDataResourceName, out byte[] soundData, out UUID soundUuid)
+        {
+            using (Stream resource = assembly.GetManifestResourceStream(soundDataResourceName))
+            {
+                using (BinaryReader br = new BinaryReader(resource))
+                {
+                    // FIXME: Use the inspector instead
+                    soundData = br.ReadBytes(99999999);
+                    soundUuid = UUID.Parse("00000000-0000-0000-0000-000000000001");
+                    string soundAssetFileName
+                       = ArchiveConstants.ASSETS_PATH + soundUuid
+                            + ArchiveConstants.ASSET_TYPE_TO_EXTENSION[(sbyte)AssetType.SoundWAV];
+                    tar.WriteFile(soundAssetFileName, soundData);
+
+                    /*
+                    AssetBase soundAsset = AssetHelpers.CreateAsset(soundUuid, soundData);
+                    scene.AssetService.Store(soundAsset);
+                    asset1FileName = ArchiveConstants.ASSETS_PATH + soundUuid + ".wav";
+                    */
+                }
+            }
+        }
 
         /// <summary>
         /// Test saving an OpenSim Region Archive.
@@ -204,30 +251,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
             // TODO: Test presence of more files and contents of files.
         }
 
-        private void CreateTestObjects(Scene scene, out SceneObjectGroup sog1, out SceneObjectGroup sog2, out UUID ncAssetUuid)
-        {
-            SceneObjectPart part1 = CreateSceneObjectPart1();
-            sog1 = new SceneObjectGroup(part1);
-            scene.AddNewSceneObject(sog1, false);
-
-            AssetNotecard nc = new AssetNotecard();
-            nc.BodyText = "Hello World!";
-            nc.Encode();
-            ncAssetUuid = UUID.Random();
-            UUID ncItemUuid = UUID.Random();
-            AssetBase ncAsset
-                = AssetHelpers.CreateAsset(ncAssetUuid, AssetType.Notecard, nc.AssetData, UUID.Zero);
-            m_scene.AssetService.Store(ncAsset);
-
-            TaskInventoryItem ncItem
-                = new TaskInventoryItem { Name = "ncItem", AssetID = ncAssetUuid, ItemID = ncItemUuid };
-            SceneObjectPart part2 = CreateSceneObjectPart2();
-            sog2 = new SceneObjectGroup(part2);
-            part2.Inventory.AddInventoryItem(ncItem, true);
-
-            scene.AddNewSceneObject(sog2, false);
-        }
-
         /// <summary>
         /// Test saving an OpenSim Region Archive with the no assets option
         /// </summary>
@@ -309,59 +332,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
         }
 
         /// <summary>
-        /// Test loading an OpenSim Region Archive where the scene object parts are not ordered by link number (e.g.
-        /// 2 can come after 3).
-        /// </summary>
-        [Test]
-        public void TestLoadOarUnorderedParts()
-        {
-            TestHelpers.InMethod();
-
-            UUID ownerId = TestHelpers.ParseTail(0xaaaa);
-
-            MemoryStream archiveWriteStream = new MemoryStream();
-            TarArchiveWriter tar = new TarArchiveWriter(archiveWriteStream);
-
-            tar.WriteFile(
-                ArchiveConstants.CONTROL_FILE_PATH,
-                new ArchiveWriteRequest(m_scene, (Stream)null, Guid.Empty).CreateControlFile(new ArchiveScenesGroup()));
-
-            SceneObjectGroup sog1 = SceneHelpers.CreateSceneObject(1, ownerId, "obj1-", 0x11);
-            SceneObjectPart sop2
-                = SceneHelpers.CreateSceneObjectPart("obj1-Part2", TestHelpers.ParseTail(0x12), ownerId);
-            SceneObjectPart sop3
-                = SceneHelpers.CreateSceneObjectPart("obj1-Part3", TestHelpers.ParseTail(0x13), ownerId);
-
-            // Add the parts so they will be written out in reverse order to the oar
-            sog1.AddPart(sop3);
-            sop3.LinkNum = 3;
-            sog1.AddPart(sop2);
-            sop2.LinkNum = 2;
-
-            tar.WriteFile(
-                ArchiveConstants.CreateOarObjectPath(sog1.Name, sog1.UUID, sog1.AbsolutePosition),
-                SceneObjectSerializer.ToXml2Format(sog1));
-
-            tar.Close();
-
-            MemoryStream archiveReadStream = new MemoryStream(archiveWriteStream.ToArray());
-
-            lock (this)
-            {
-                m_scene.EventManager.OnOarFileLoaded += LoadCompleted;
-                m_archiverModule.DearchiveRegion(archiveReadStream);
-            }
-
-            Assert.That(m_lastErrorMessage, Is.Null);
-
-            SceneObjectPart part2 = m_scene.GetSceneObjectPart("obj1-Part2");
-            Assert.That(part2.LinkNum, Is.EqualTo(2));
-
-            SceneObjectPart part3 = m_scene.GetSceneObjectPart("obj1-Part3");
-            Assert.That(part3.LinkNum, Is.EqualTo(3));
-        }
-
-        /// <summary>
         /// Test loading an OpenSim Region Archive.
         /// </summary>
         [Test]
@@ -435,50 +405,57 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
             TestLoadedRegion(part1, soundItemName, soundData);
         }
 
-        private static void CreateSoundAsset(TarArchiveWriter tar, Assembly assembly, string soundDataResourceName, out byte[] soundData, out UUID soundUuid)
+        /// <summary>
+        /// Test loading an OpenSim Region Archive where the scene object parts are not ordered by link number (e.g.
+        /// 2 can come after 3).
+        /// </summary>
+        [Test]
+        public void TestLoadOarUnorderedParts()
         {
-            using (Stream resource = assembly.GetManifestResourceStream(soundDataResourceName))
-            {
-                using (BinaryReader br = new BinaryReader(resource))
-                {
-                    // FIXME: Use the inspector instead
-                    soundData = br.ReadBytes(99999999);
-                    soundUuid = UUID.Parse("00000000-0000-0000-0000-000000000001");
-                    string soundAssetFileName
-                       = ArchiveConstants.ASSETS_PATH + soundUuid
-                            + ArchiveConstants.ASSET_TYPE_TO_EXTENSION[(sbyte)AssetType.SoundWAV];
-                    tar.WriteFile(soundAssetFileName, soundData);
+            TestHelpers.InMethod();
 
-                    /*
-                    AssetBase soundAsset = AssetHelpers.CreateAsset(soundUuid, soundData);
-                    scene.AssetService.Store(soundAsset);
-                    asset1FileName = ArchiveConstants.ASSETS_PATH + soundUuid + ".wav";
-                    */
-                }
-            }
-        }
+            UUID ownerId = TestHelpers.ParseTail(0xaaaa);
 
-        private void TestLoadedRegion(SceneObjectPart part1, string soundItemName, byte[] soundData)
-        {
-            SceneObjectPart object1PartLoaded = m_scene.GetSceneObjectPart(part1.Name);
+            MemoryStream archiveWriteStream = new MemoryStream();
+            TarArchiveWriter tar = new TarArchiveWriter(archiveWriteStream);
 
-            Assert.That(object1PartLoaded, Is.Not.Null, "object1 was not loaded");
-            Assert.That(object1PartLoaded.Name, Is.EqualTo(part1.Name), "object1 names not identical");
-            Assert.That(object1PartLoaded.GroupPosition, Is.EqualTo(part1.GroupPosition), "object1 group position not equal");
-            Assert.That(
-                object1PartLoaded.RotationOffset, Is.EqualTo(part1.RotationOffset), "object1 rotation offset not equal");
-            Assert.That(
-                object1PartLoaded.OffsetPosition, Is.EqualTo(part1.OffsetPosition), "object1 offset position not equal");
-            Assert.That(object1PartLoaded.SitTargetOrientation, Is.EqualTo(part1.SitTargetOrientation));
-            Assert.That(object1PartLoaded.SitTargetPosition, Is.EqualTo(part1.SitTargetPosition));
+            tar.WriteFile(
+                ArchiveConstants.CONTROL_FILE_PATH,
+                new ArchiveWriteRequest(m_scene, (Stream)null, Guid.Empty).CreateControlFile(new ArchiveScenesGroup()));
 
-            TaskInventoryItem loadedSoundItem = object1PartLoaded.Inventory.GetInventoryItems(soundItemName)[0];
-            Assert.That(loadedSoundItem, Is.Not.Null, "loaded sound item was null");
-            AssetBase loadedSoundAsset = m_scene.AssetService.Get(loadedSoundItem.AssetID.ToString());
-            Assert.That(loadedSoundAsset, Is.Not.Null, "loaded sound asset was null");
-            Assert.That(loadedSoundAsset.Data, Is.EqualTo(soundData), "saved and loaded sound data do not match");
+            SceneObjectGroup sog1 = SceneHelpers.CreateSceneObject(1, ownerId, "obj1-", 0x11);
+            SceneObjectPart sop2
+                = SceneHelpers.CreateSceneObjectPart("obj1-Part2", TestHelpers.ParseTail(0x12), ownerId);
+            SceneObjectPart sop3
+                = SceneHelpers.CreateSceneObjectPart("obj1-Part3", TestHelpers.ParseTail(0x13), ownerId);
 
-            Assert.Greater(m_scene.LandChannel.AllParcels().Count, 0, "incorrect number of parcels");
+            // Add the parts so they will be written out in reverse order to the oar
+            sog1.AddPart(sop3);
+            sop3.LinkNum = 3;
+            sog1.AddPart(sop2);
+            sop2.LinkNum = 2;
+
+            tar.WriteFile(
+                ArchiveConstants.CreateOarObjectPath(sog1.Name, sog1.UUID, sog1.AbsolutePosition),
+                SceneObjectSerializer.ToXml2Format(sog1));
+
+            tar.Close();
+
+            MemoryStream archiveReadStream = new MemoryStream(archiveWriteStream.ToArray());
+
+            lock (this)
+            {
+                m_scene.EventManager.OnOarFileLoaded += LoadCompleted;
+                m_archiverModule.DearchiveRegion(archiveReadStream);
+            }
+
+            Assert.That(m_lastErrorMessage, Is.Null);
+
+            SceneObjectPart part2 = m_scene.GetSceneObjectPart("obj1-Part2");
+            Assert.That(part2.LinkNum, Is.EqualTo(2));
+
+            SceneObjectPart part3 = m_scene.GetSceneObjectPart("obj1-Part3");
+            Assert.That(part3.LinkNum, Is.EqualTo(3));
         }
 
         /// <summary>
@@ -538,8 +515,8 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
                 SerialiserModule serialiserModule = new SerialiserModule();
                 TerrainModule terrainModule = new TerrainModule();
 
-                m_sceneHelpers = new SceneHelpers();
-                TestScene scene2 = m_sceneHelpers.SetupScene();
+                SceneHelpers m_sceneHelpers2 = new SceneHelpers();
+                TestScene scene2 = m_sceneHelpers2.SetupScene();
                 SceneHelpers.SetupSceneModules(scene2, archiverModule, serialiserModule, terrainModule);
 
                 // Make sure there's a valid owner for the owner we saved (this should have been wiped if the code is
@@ -563,6 +540,71 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
         }
 
         /// <summary>
+        /// Test OAR loading where the land parcel is group deeded.
+        /// </summary>
+        /// <remarks>
+        /// In this situation, the owner ID is set to the group ID.
+        /// </remarks>
+        [Test]
+        public void TestLoadOarDeededLand()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            UUID landID = TestHelpers.ParseTail(0x10);
+
+            MockGroupsServicesConnector groupsService = new MockGroupsServicesConnector();
+
+            IConfigSource configSource = new IniConfigSource();
+            IConfig config = configSource.AddConfig("Groups");            
+            config.Set("Enabled", true);
+            config.Set("Module", "GroupsModule");            
+            config.Set("DebugEnabled", true);
+            SceneHelpers.SetupSceneModules(
+                m_scene, configSource, new object[] { new GroupsModule(), groupsService, new LandManagementModule() });
+
+            // Create group in scene for loading
+            // FIXME: For now we'll put up with the issue that we'll get a group ID that varies across tests.
+            UUID groupID 
+                = groupsService.CreateGroup(UUID.Zero, "group1", "", true, UUID.Zero, 3, true, true, true, UUID.Zero);
+
+            // Construct OAR
+            MemoryStream oarStream = new MemoryStream();
+            TarArchiveWriter tar = new TarArchiveWriter(oarStream);
+
+            tar.WriteDir(ArchiveConstants.LANDDATA_PATH);
+            tar.WriteFile(
+                ArchiveConstants.CONTROL_FILE_PATH,
+                new ArchiveWriteRequest(m_scene, (Stream)null, Guid.Empty).CreateControlFile(new ArchiveScenesGroup()));
+
+            LandObject lo = new LandObject(groupID, true, null);
+            lo.SetLandBitmap(lo.BasicFullRegionLandBitmap());
+            LandData ld = lo.LandData;
+            ld.GlobalID = landID;
+
+            string ldPath = ArchiveConstants.CreateOarLandDataPath(ld);
+            tar.WriteFile(ldPath, LandDataSerializer.Serialize(ld, null));
+            tar.Close();
+
+            oarStream = new MemoryStream(oarStream.ToArray());
+
+            // Load OAR
+            lock (this)
+            {
+                m_scene.EventManager.OnOarFileLoaded += LoadCompleted;
+                m_archiverModule.DearchiveRegion(oarStream);
+            }
+
+            ILandObject rLo = m_scene.LandChannel.GetLandObject(16, 16);
+            LandData rLd = rLo.LandData;
+
+            Assert.That(rLd.GlobalID, Is.EqualTo(landID));
+            Assert.That(rLd.OwnerID, Is.EqualTo(groupID));
+            Assert.That(rLd.GroupID, Is.EqualTo(groupID));
+            Assert.That(rLd.IsGroupOwned, Is.EqualTo(true));
+        }
+
+        /// <summary>
         /// Test loading the region settings of an OpenSim Region Archive.
         /// </summary>
         [Test]
@@ -781,9 +823,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
                 }
             }
 
-
             // Save OAR
-
             MemoryStream archiveWriteStream = new MemoryStream();
             m_scene.EventManager.OnOarFileSaved += SaveCompleted;
 
@@ -800,7 +840,6 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
 
 
             // Check that the OAR contains the expected data
-
             Assert.That(m_lastRequestId, Is.EqualTo(requestId));
 
             byte[] archive = archiveWriteStream.ToArray();
@@ -892,7 +931,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
             }
 
             ArchiveScenesGroup scenesGroup = new ArchiveScenesGroup();
-            SceneManager.Instance.ForEachScene(delegate(Scene scene)
+            m_sceneHelpers.SceneManager.ForEachScene(delegate(Scene scene)
             {
                 scenesGroup.AddScene(scene);
             });
@@ -950,13 +989,13 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
             
             // Delete the current objects, to test that they're loaded from the OAR and didn't
             // just remain in the scene.
-            SceneManager.Instance.ForEachScene(delegate(Scene scene)
+            m_sceneHelpers.SceneManager.ForEachScene(delegate(Scene scene)
             {
                 scene.DeleteAllSceneObjects();
             });
 
             // Create a "hole", to test that that the corresponding region isn't loaded from the OAR
-            SceneManager.Instance.CloseScene(SceneManager.Instance.Scenes[1]);
+            m_sceneHelpers.SceneManager.CloseScene(SceneManager.Instance.Scenes[1]);
 
 
             // Check thay the OAR file contains the expected data
@@ -971,10 +1010,32 @@ namespace OpenSim.Region.CoreModules.World.Archiver.Tests
 
             Assert.That(m_lastErrorMessage, Is.Null);
 
-            Assert.AreEqual(3, SceneManager.Instance.Scenes.Count);
+            Assert.AreEqual(3, m_sceneHelpers.SceneManager.Scenes.Count);
 
             TestLoadedRegion(part1, soundItemName, soundData);
         }
 
+        private void TestLoadedRegion(SceneObjectPart part1, string soundItemName, byte[] soundData)
+        {
+            SceneObjectPart object1PartLoaded = m_scene.GetSceneObjectPart(part1.Name);
+
+            Assert.That(object1PartLoaded, Is.Not.Null, "object1 was not loaded");
+            Assert.That(object1PartLoaded.Name, Is.EqualTo(part1.Name), "object1 names not identical");
+            Assert.That(object1PartLoaded.GroupPosition, Is.EqualTo(part1.GroupPosition), "object1 group position not equal");
+            Assert.That(
+                object1PartLoaded.RotationOffset, Is.EqualTo(part1.RotationOffset), "object1 rotation offset not equal");
+            Assert.That(
+                object1PartLoaded.OffsetPosition, Is.EqualTo(part1.OffsetPosition), "object1 offset position not equal");
+            Assert.That(object1PartLoaded.SitTargetOrientation, Is.EqualTo(part1.SitTargetOrientation));
+            Assert.That(object1PartLoaded.SitTargetPosition, Is.EqualTo(part1.SitTargetPosition));
+
+            TaskInventoryItem loadedSoundItem = object1PartLoaded.Inventory.GetInventoryItems(soundItemName)[0];
+            Assert.That(loadedSoundItem, Is.Not.Null, "loaded sound item was null");
+            AssetBase loadedSoundAsset = m_scene.AssetService.Get(loadedSoundItem.AssetID.ToString());
+            Assert.That(loadedSoundAsset, Is.Not.Null, "loaded sound asset was null");
+            Assert.That(loadedSoundAsset.Data, Is.EqualTo(soundData), "saved and loaded sound data do not match");
+
+            Assert.Greater(m_scene.LandChannel.AllParcels().Count, 0, "incorrect number of parcels");
+        }
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/CoreModules/World/Estate/EstateManagementCommands.cs b/OpenSim/Region/CoreModules/World/Estate/EstateManagementCommands.cs
index 3b84d57..4d49794 100644
--- a/OpenSim/Region/CoreModules/World/Estate/EstateManagementCommands.cs
+++ b/OpenSim/Region/CoreModules/World/Estate/EstateManagementCommands.cs
@@ -117,7 +117,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                     
                     m_module.Scene.RegionInfo.RegionSettings.Save();
                     m_module.TriggerRegionInfoChange();
-                    m_module.sendRegionInfoPacketToAll();
+                    m_module.sendRegionHandshakeToAll();
                 }
             }
         }
diff --git a/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs b/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
index dc062b6..a5f5749 100644
--- a/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
+++ b/OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
@@ -55,6 +55,11 @@ namespace OpenSim.Region.CoreModules.World.Estate
         
         protected EstateManagementCommands m_commands;                
 
+        /// <summary>
+        /// If false, region restart requests from the client are blocked even if they are otherwise legitimate.
+        /// </summary>
+        public bool AllowRegionRestartFromClient { get; set; }
+
         private EstateTerrainXferHandler TerrainUploader;
         public TelehubManager m_Telehub;
 
@@ -64,6 +69,53 @@ namespace OpenSim.Region.CoreModules.World.Estate
 
         private int m_delayCount = 0;
 
+        #region Region Module interface
+        
+        public string Name { get { return "EstateManagementModule"; } }
+        
+        public Type ReplaceableInterface { get { return null; } }        
+
+        public void Initialise(IConfigSource source) 
+        {
+            AllowRegionRestartFromClient = true;
+
+            IConfig config = source.Configs["EstateManagement"];
+
+            if (config != null)
+                AllowRegionRestartFromClient = config.GetBoolean("AllowRegionRestartFromClient", true);
+        }
+        
+        public void AddRegion(Scene scene)
+        {
+            Scene = scene;
+            Scene.RegisterModuleInterface<IEstateModule>(this);
+            Scene.EventManager.OnNewClient += EventManager_OnNewClient;
+            Scene.EventManager.OnRequestChangeWaterHeight += changeWaterHeight;
+
+            m_Telehub = new TelehubManager(scene);
+
+            m_commands = new EstateManagementCommands(this);
+            m_commands.Initialise();
+        }
+        
+        public void RemoveRegion(Scene scene) {}            
+        
+        public void RegionLoaded(Scene scene)
+        {
+            // Sets up the sun module based no the saved Estate and Region Settings
+            // DO NOT REMOVE or the sun will stop working
+            scene.TriggerEstateSunUpdate();
+            
+            UserManager = scene.RequestModuleInterface<IUserManagement>();            
+        }
+
+        public void Close() 
+        {
+            m_commands.Close();
+        }
+
+        #endregion
+
         #region Packet Data Responders
 
         private void clientSendDetailedEstateData(IClientAPI remote_client, UUID invoice)
@@ -76,7 +128,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
         {
             uint sun = 0;
 
-            if (!Scene.RegionInfo.EstateSettings.UseGlobalTime)
+            if (Scene.RegionInfo.EstateSettings.FixedSun)
                 sun = (uint)(Scene.RegionInfo.EstateSettings.SunPosition * 1024.0) + 0x1800;
             UUID estateOwner;
             estateOwner = Scene.RegionInfo.EstateSettings.EstateOwner;
@@ -197,6 +249,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                     Scene.RegionInfo.RegionSettings.TerrainTexture4 = texture;
                     break;
             }
+
             Scene.RegionInfo.RegionSettings.Save();
             TriggerRegionInfoChange();
             sendRegionInfoPacketToAll();
@@ -228,6 +281,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                     Scene.RegionInfo.RegionSettings.Elevation2NE = highValue;
                     break;
             }
+
             Scene.RegionInfo.RegionSettings.Save();
             TriggerRegionInfoChange();
             sendRegionHandshakeToAll();
@@ -268,6 +322,12 @@ namespace OpenSim.Region.CoreModules.World.Estate
 
         private void handleEstateRestartSimRequest(IClientAPI remoteClient, int timeInSeconds)
         {
+            if (!AllowRegionRestartFromClient)
+            {
+                remoteClient.SendAlertMessage("Region restart has been disabled on this simulator.");
+                return;
+            }
+
             IRestartModule restartModule = Scene.RequestModuleInterface<IRestartModule>();
             if (restartModule != null)
             {
@@ -352,6 +412,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                 }
 
             }
+
             if ((estateAccessType & 8) != 0) // User remove
             {
                 if (Scene.Permissions.CanIssueEstateCommand(remote_client.AgentId, true))
@@ -383,6 +444,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
                     remote_client.SendAlertMessage("Method EstateAccessDelta Failed, you don't have permissions");
                 }
             }
+
             if ((estateAccessType & 16) != 0) // Group add
             {
                 if (Scene.Permissions.CanIssueEstateCommand(remote_client.AgentId, true))
@@ -650,7 +712,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
             }
         }
 
-        public void handleOnEstateManageTelehub (IClientAPI client, UUID invoice, UUID senderID, string cmd, uint param1)
+        public void handleOnEstateManageTelehub(IClientAPI client, UUID invoice, UUID senderID, string cmd, uint param1)
         {
             SceneObjectPart part;
 
@@ -718,13 +780,18 @@ namespace OpenSim.Region.CoreModules.World.Estate
             Scene.RegionInfo.RegionSettings.Save();
             TriggerRegionInfoChange();
 
-            Scene.SetSceneCoreDebug(
-                new Dictionary<string, string>() {
-                    { "scripting", (!disableScripts).ToString() },
-                    { "collisions", (!disableCollisions).ToString() },
-                    { "physics", (!disablePhysics).ToString() }
-                }
-            );
+            ISceneCommandsModule scm = Scene.RequestModuleInterface<ISceneCommandsModule>();
+
+            if (scm != null)
+            {
+                scm.SetSceneDebugOptions(
+                    new Dictionary<string, string>() {
+                        { "scripting", (!disableScripts).ToString() },
+                        { "collisions", (!disableCollisions).ToString() },
+                        { "physics", (!disablePhysics).ToString() }
+                    }
+                );
+            }
         }
 
         private void handleEstateTeleportOneUserHomeRequest(IClientAPI remover_client, UUID invoice, UUID senderID, UUID prey)
@@ -1066,6 +1133,7 @@ namespace OpenSim.Region.CoreModules.World.Estate
             {
                 Scene.RegionInfo.EstateSettings.UseGlobalTime = false;
                 Scene.RegionInfo.EstateSettings.SunPosition = (parms2 - 0x1800)/1024.0;
+                // Warning: FixedSun should be set to True, otherwise this sun position won't be used.
             }
 
             if ((parms1 & 0x00000010) != 0)
@@ -1118,49 +1186,6 @@ namespace OpenSim.Region.CoreModules.World.Estate
 
         #endregion
 
-        #region Region Module interface
-        
-        public string Name { get { return "EstateManagementModule"; } }
-        
-        public Type ReplaceableInterface { get { return null; } }        
-
-        public void Initialise(IConfigSource source) {}
-        
-        public void AddRegion(Scene scene)
-        {
-            m_regionChangeTimer.AutoReset = false;
-            m_regionChangeTimer.Interval = 2000;
-            m_regionChangeTimer.Elapsed += RaiseRegionInfoChange;
-
-            Scene = scene;
-            Scene.RegisterModuleInterface<IEstateModule>(this);
-            Scene.EventManager.OnNewClient += EventManager_OnNewClient;
-            Scene.EventManager.OnRequestChangeWaterHeight += changeWaterHeight;
-
-            m_Telehub = new TelehubManager(scene);
-
-            m_commands = new EstateManagementCommands(this);
-            m_commands.Initialise();
-        }
-        
-        public void RemoveRegion(Scene scene) {}            
-        
-        public void RegionLoaded(Scene scene)
-        {
-            // Sets up the sun module based no the saved Estate and Region Settings
-            // DO NOT REMOVE or the sun will stop working
-            scene.TriggerEstateSunUpdate();
-            
-            UserManager = scene.RequestModuleInterface<IUserManagement>();            
-        }
-
-        public void Close() 
-        {
-            m_commands.Close();
-        }
-
-        #endregion
-
         #region Other Functions
 
         public void changeWaterHeight(float height)
diff --git a/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs b/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
index 1193057..b4f7d51 100644
--- a/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
+++ b/OpenSim/Region/CoreModules/World/Land/LandManagementModule.cs
@@ -141,6 +141,7 @@ namespace OpenSim.Region.CoreModules.World.Land
             m_scene.EventManager.OnValidateLandBuy += EventManagerOnValidateLandBuy;
             m_scene.EventManager.OnLandBuy += EventManagerOnLandBuy;
             m_scene.EventManager.OnNewClient += EventManagerOnNewClient;
+            m_scene.EventManager.OnMakeChildAgent += EventMakeChildAgent;
             m_scene.EventManager.OnSignificantClientMovement += EventManagerOnSignificantClientMovement;
             m_scene.EventManager.OnNoticeNoLandDataFromStorage += EventManagerOnNoLandDataFromStorage;
             m_scene.EventManager.OnIncomingLandDataFromStorage += EventManagerOnIncomingLandDataFromStorage;
@@ -221,6 +222,11 @@ namespace OpenSim.Region.CoreModules.World.Land
             }
         }
 
+        public void EventMakeChildAgent(ScenePresence avatar)
+        {
+            avatar.currentParcelUUID = UUID.Zero;
+        }
+
         void ClientOnPreAgentUpdate(IClientAPI remoteClient, AgentUpdateArgs agentData)
         {
         }
@@ -249,17 +255,15 @@ namespace OpenSim.Region.CoreModules.World.Land
             newData.LocalID = local_id;
             ILandObject landobj = null;        
 
+            ILandObject land;
             lock (m_landList)
             {
-                if (m_landList.ContainsKey(local_id))
-                {
-                    m_landList[local_id].LandData = newData;
-                    landobj = m_landList[local_id];
-//                    m_scene.EventManager.TriggerLandObjectUpdated((uint)local_id, m_landList[local_id]);
-                }
+                if (m_landList.TryGetValue(local_id, out land))
+                    land.LandData = newData;
             }
-            if(landobj != null)
-                m_scene.EventManager.TriggerLandObjectUpdated((uint)local_id, landobj);
+
+            if (land != null)
+                m_scene.EventManager.TriggerLandObjectUpdated((uint)local_id, land);
         }
 
         public bool AllowedForcefulBans
@@ -584,7 +588,7 @@ namespace OpenSim.Region.CoreModules.World.Land
             // Only now can we add the prim counts to the land object - we rely on the global ID which is generated
             // as a random UUID inside LandData initialization
             if (m_primCountModule != null)
-                new_land.PrimCounts = m_primCountModule.GetPrimCounts(new_land.LandData.GlobalID);            
+                new_land.PrimCounts = m_primCountModule.GetPrimCounts(new_land.LandData.GlobalID);
 
             lock (m_landList)
             {
@@ -621,6 +625,7 @@ namespace OpenSim.Region.CoreModules.World.Land
         /// <param name="local_id">Land.localID of the peice of land to remove.</param>
         public void removeLandObject(int local_id)
         {
+            ILandObject land;
             lock (m_landList)
             {
                 for (int x = 0; x < 64; x++)
@@ -637,9 +642,11 @@ namespace OpenSim.Region.CoreModules.World.Land
                     }
                 }
 
-                m_scene.EventManager.TriggerLandObjectRemoved(m_landList[local_id].LandData.GlobalID);
+                land = m_landList[local_id];
                 m_landList.Remove(local_id);
             }
+
+            m_scene.EventManager.TriggerLandObjectRemoved(land.LandData.GlobalID);
         }
         
         /// <summary>
@@ -1384,9 +1391,7 @@ namespace OpenSim.Region.CoreModules.World.Land
             }
 
             for (int i = 0; i < data.Count; i++)
-            {
                 IncomingLandObjectFromStorage(data[i]);
-            }
         }
 
         public void IncomingLandObjectFromStorage(LandData data)
@@ -1401,25 +1406,72 @@ namespace OpenSim.Region.CoreModules.World.Land
 
         public void ReturnObjectsInParcel(int localID, uint returnType, UUID[] agentIDs, UUID[] taskIDs, IClientAPI remoteClient)
         {
-            ILandObject selectedParcel = null;
-            lock (m_landList)
+            if (localID != -1)
             {
-                m_landList.TryGetValue(localID, out selectedParcel);
+                ILandObject selectedParcel = null;
+                lock (m_landList)
+                {
+                    m_landList.TryGetValue(localID, out selectedParcel);
+                }
+
+                if (selectedParcel == null) 
+                    return;
+
+                selectedParcel.ReturnLandObjects(returnType, agentIDs, taskIDs, remoteClient);
             }
+            else
+            {
+                if (returnType != 1)
+                {
+                    m_log.WarnFormat("[LAND MANAGEMENT MODULE]: ReturnObjectsInParcel: unknown return type {0}", returnType);
+                    return;
+                }
+
+                // We get here when the user returns objects from the list of Top Colliders or Top Scripts.
+                // In that case we receive specific object UUID's, but no parcel ID.
+
+                Dictionary<UUID, HashSet<SceneObjectGroup>> returns = new Dictionary<UUID, HashSet<SceneObjectGroup>>();
+
+                foreach (UUID groupID in taskIDs)
+                {
+                    SceneObjectGroup obj = m_scene.GetSceneObjectGroup(groupID);
+                    if (obj != null)
+                    {
+                        if (!returns.ContainsKey(obj.OwnerID))
+                            returns[obj.OwnerID] = new HashSet<SceneObjectGroup>();
+                        returns[obj.OwnerID].Add(obj);
+                    }
+                    else
+                    {
+                        m_log.WarnFormat("[LAND MANAGEMENT MODULE]: ReturnObjectsInParcel: unknown object {0}", groupID);
+                    }
+                }
 
-            if (selectedParcel == null) return;
+                int num = 0;
+                foreach (HashSet<SceneObjectGroup> objs in returns.Values)
+                    num += objs.Count;
+                m_log.DebugFormat("[LAND MANAGEMENT MODULE]: Returning {0} specific object(s)", num);
 
-            selectedParcel.ReturnLandObjects(returnType, agentIDs, taskIDs, remoteClient);
+                foreach (HashSet<SceneObjectGroup> objs in returns.Values)
+                {
+                    List<SceneObjectGroup> objs2 = new List<SceneObjectGroup>(objs);
+                    if (m_scene.Permissions.CanReturnObjects(null, remoteClient.AgentId, objs2))
+                    {
+                        m_scene.returnObjects(objs2.ToArray(), remoteClient.AgentId);
+                    }
+                    else
+                    {
+                        m_log.WarnFormat("[LAND MANAGEMENT MODULE]: ReturnObjectsInParcel: not permitted to return {0} object(s) belonging to user {1}",
+                            objs2.Count, objs2[0].OwnerID);
+                    }
+                }
+            }
         }
 
         public void EventManagerOnNoLandDataFromStorage()
         {
-            // called methods already have locks
-//            lock (m_landList)
-            {
-                ResetSimLandObjects();
-                CreateDefaultParcel();
-            }
+            ResetSimLandObjects();
+            CreateDefaultParcel();
         }
 
         #endregion
diff --git a/OpenSim/Region/CoreModules/World/Land/LandObject.cs b/OpenSim/Region/CoreModules/World/Land/LandObject.cs
index fdac418..07d00c0 100644
--- a/OpenSim/Region/CoreModules/World/Land/LandObject.cs
+++ b/OpenSim/Region/CoreModules/World/Land/LandObject.cs
@@ -761,9 +761,10 @@ namespace OpenSim.Region.CoreModules.World.Land
             int ty = min_y * 4;
             if (ty > ((int)Constants.RegionSize - 1))
                 ty = ((int)Constants.RegionSize - 1);
+
             LandData.AABBMin =
-                new Vector3((float) (min_x * 4), (float) (min_y * 4),
-                              (float) m_scene.Heightmap[tx, ty]);
+                new Vector3(
+                    (float)(min_x * 4), (float)(min_y * 4), m_scene != null ? (float)m_scene.Heightmap[tx, ty] : 0);
 
             tx = max_x * 4;
             if (tx > ((int)Constants.RegionSize - 1))
@@ -771,9 +772,11 @@ namespace OpenSim.Region.CoreModules.World.Land
             ty = max_y * 4;
             if (ty > ((int)Constants.RegionSize - 1))
                 ty = ((int)Constants.RegionSize - 1);
-            LandData.AABBMax =
-                new Vector3((float) (max_x * 4), (float) (max_y * 4),
-                              (float) m_scene.Heightmap[tx, ty]);
+
+            LandData.AABBMax 
+                = new Vector3(
+                    (float)(max_x * 4), (float)(max_y * 4), m_scene != null ? (float)m_scene.Heightmap[tx, ty] : 0);
+
             LandData.Area = tempArea;
         }
 
diff --git a/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs b/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs
index 55b8227..771fdd2 100644
--- a/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs
+++ b/OpenSim/Region/CoreModules/World/Land/PrimCountModule.cs
@@ -490,11 +490,14 @@ namespace OpenSim.Region.CoreModules.World.Land
 
             m_Scene.ForEachSOG(AddObject);
 
-            List<UUID> primcountKeys = new List<UUID>(m_PrimCounts.Keys);
-            foreach (UUID k in primcountKeys)
+            lock (m_PrimCounts)
             {
-                if (!m_OwnerMap.ContainsKey(k))
-                    m_PrimCounts.Remove(k);
+                List<UUID> primcountKeys = new List<UUID>(m_PrimCounts.Keys);
+                foreach (UUID k in primcountKeys)
+                {
+                    if (!m_OwnerMap.ContainsKey(k))
+                        m_PrimCounts.Remove(k);
+                }
             }
             
             m_Tainted = false;
diff --git a/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs b/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs
index b5ee4d2..0945b43 100644
--- a/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs
+++ b/OpenSim/Region/CoreModules/World/Land/Tests/PrimCountModuleTests.cs
@@ -41,7 +41,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.CoreModules.World.Land.Tests
 {
     [TestFixture]
-    public class PrimCountModuleTests
+    public class PrimCountModuleTests : OpenSimTestCase
     {
         protected UUID m_userId = new UUID("00000000-0000-0000-0000-100000000000");
         protected UUID m_groupId = new UUID("00000000-0000-0000-8888-000000000000");        
@@ -60,8 +60,10 @@ namespace OpenSim.Region.CoreModules.World.Land.Tests
         protected ILandObject m_lo2;        
             
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             m_pcm = new PrimCountModule();
             LandManagementModule lmm = new LandManagementModule();
             m_scene = new SceneHelpers().SetupScene();            
diff --git a/OpenSim/Region/CoreModules/World/LegacyMap/MapImageModule.cs b/OpenSim/Region/CoreModules/World/LegacyMap/MapImageModule.cs
index 8a422b0..e7065dc 100644
--- a/OpenSim/Region/CoreModules/World/LegacyMap/MapImageModule.cs
+++ b/OpenSim/Region/CoreModules/World/LegacyMap/MapImageModule.cs
@@ -77,42 +77,51 @@ namespace OpenSim.Region.CoreModules.World.LegacyMap
         {
             bool drawPrimVolume = true;
             bool textureTerrain = false;
+            bool generateMaptiles = true;
+            Bitmap mapbmp;
 
             try
             {
                 IConfig startupConfig = m_config.Configs["Startup"];
                 drawPrimVolume = startupConfig.GetBoolean("DrawPrimOnMapTile", drawPrimVolume);
                 textureTerrain = startupConfig.GetBoolean("TextureOnMapTile", textureTerrain);
+                generateMaptiles = startupConfig.GetBoolean("GenerateMaptiles", generateMaptiles);
             }
             catch
             {
                 m_log.Warn("[MAPTILE]: Failed to load StartupConfig");
             }
 
-            if (textureTerrain)
+            if (generateMaptiles)
             {
-                terrainRenderer = new TexturedMapTileRenderer();
-            }
-            else
-            {
-                terrainRenderer = new ShadedMapTileRenderer();
-            }
-            terrainRenderer.Initialise(m_scene, m_config);
+                if (textureTerrain)
+                {
+                    terrainRenderer = new TexturedMapTileRenderer();
+                }
+                else
+                {
+                    terrainRenderer = new ShadedMapTileRenderer();
+                }
 
-            Bitmap mapbmp = new Bitmap((int)Constants.RegionSize, (int)Constants.RegionSize, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
-            //long t = System.Environment.TickCount;
-            //for (int i = 0; i < 10; ++i) {
-            terrainRenderer.TerrainToBitmap(mapbmp);
-            //}
-            //t = System.Environment.TickCount - t;
-            //m_log.InfoFormat("[MAPTILE] generation of 10 maptiles needed {0} ms", t);
+                terrainRenderer.Initialise(m_scene, m_config);
 
+                mapbmp = new Bitmap((int)Constants.RegionSize, (int)Constants.RegionSize, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
+                //long t = System.Environment.TickCount;
+                //for (int i = 0; i < 10; ++i) {
+                terrainRenderer.TerrainToBitmap(mapbmp);
+                //}
+                //t = System.Environment.TickCount - t;
+                //m_log.InfoFormat("[MAPTILE] generation of 10 maptiles needed {0} ms", t);
 
-            if (drawPrimVolume)
+                if (drawPrimVolume)
+                {
+                    DrawObjectVolume(m_scene, mapbmp);
+                }
+            }
+            else
             {
-                DrawObjectVolume(m_scene, mapbmp);
+                mapbmp = FetchTexture(m_scene.RegionInfo.RegionSettings.TerrainImageID);
             }
-
             return mapbmp;
         }
 
@@ -222,6 +231,49 @@ namespace OpenSim.Region.CoreModules.World.LegacyMap
 //             }
 //         }
 
+        private Bitmap FetchTexture(UUID id)
+        {
+            AssetBase asset = m_scene.AssetService.Get(id.ToString());
+
+            if (asset != null)
+            {
+                m_log.DebugFormat("[MAPTILE]: Static map image texture {0} found for {1}", id, m_scene.Name);
+            }
+            else
+            {
+                m_log.WarnFormat("[MAPTILE]: Static map image texture {0} not found for {1}", id, m_scene.Name);
+                return null;
+            }
+
+            ManagedImage managedImage;
+            Image image;
+
+            try
+            {
+                if (OpenJPEG.DecodeToImage(asset.Data, out managedImage, out image))
+                    return new Bitmap(image);
+                else
+                    return null;
+            }
+            catch (DllNotFoundException)
+            {
+                m_log.ErrorFormat("[MAPTILE]: OpenJpeg is not installed correctly on this system.   Asset Data is empty for {0}", id);
+
+            }
+            catch (IndexOutOfRangeException)
+            {
+                m_log.ErrorFormat("[MAPTILE]: OpenJpeg was unable to decode this.   Asset Data is empty for {0}", id);
+
+            }
+            catch (Exception)
+            {
+                m_log.ErrorFormat("[MAPTILE]: OpenJpeg was unable to decode this.   Asset Data is empty for {0}", id);
+
+            }
+            return null;
+
+        }
+
         private Bitmap DrawObjectVolume(Scene whichScene, Bitmap mapbmp)
         {
             int tc = 0;
diff --git a/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs b/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs
index 396095a..03a96a4 100644
--- a/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs
+++ b/OpenSim/Region/CoreModules/World/Media/Moap/Tests/MoapTests.cs
@@ -44,14 +44,16 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.CoreModules.World.Media.Moap.Tests
 {
     [TestFixture]
-    public class MoapTests
+    public class MoapTests : OpenSimTestCase
     {
         protected TestScene m_scene;
         protected MoapModule m_module;
             
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             m_module = new MoapModule();
             m_scene = new SceneHelpers().SetupScene();
             SceneHelpers.SetupSceneModules(m_scene, m_module);            
diff --git a/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs b/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs
index ab8f143..9fc2daf 100644
--- a/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs
+++ b/OpenSim/Region/CoreModules/World/Objects/Commands/ObjectCommandsModule.cs
@@ -365,7 +365,8 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
 
             if (mainParams.Count < 4)
             {
-                m_console.OutputFormat("Usage: show part id [--full] <UUID-or-localID>");
+                //m_console.OutputFormat("Usage: show part id [--full] <UUID-or-localID>");
+                m_console.OutputFormat("Usage: show part id <UUID-or-localID>");
                 return;
             }
 
@@ -405,6 +406,7 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
 
             if (mainParams.Count < 5)
             {
+                //m_console.OutputFormat("Usage: show part pos <start-coord> to <end-coord>");
                 m_console.OutputFormat("Usage: show part pos [--full] <start-coord> to <end-coord>");
                 return;
             }
@@ -445,7 +447,8 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
 
             if (mainParams.Count < 4)
             {
-                m_console.OutputFormat("Usage: show part name [--full] [--regex] <name>");
+                m_console.OutputFormat("Usage: show part name [--regex] <name>");
+                //m_console.OutputFormat("Usage: show part name [--full] [--regex] <name>");
                 return;
             }
 
@@ -577,6 +580,58 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
             cdl.AddRow("Link number", sop.LinkNum);
             cdl.AddRow("Flags", sop.Flags);
 
+            if (showFull)
+            {
+                PrimitiveBaseShape s = sop.Shape;
+                cdl.AddRow("FlexiDrag", s.FlexiDrag);
+                cdl.AddRow("FlexiEntry", s.FlexiEntry);
+                cdl.AddRow("FlexiForce", string.Format("<{0},{1},{2}>", s.FlexiForceX, s.FlexiForceY, s.FlexiForceZ));
+                cdl.AddRow("FlexiGravity", s.FlexiGravity);
+                cdl.AddRow("FlexiSoftness", s.FlexiSoftness);
+                cdl.AddRow("HollowShape", s.HollowShape);
+                cdl.AddRow(
+                    "LightColor", 
+                    string.Format("<{0},{1},{2},{3}>", s.LightColorR, s.LightColorB, s.LightColorG, s.LightColorA));
+                cdl.AddRow("LightCutoff", s.LightCutoff);
+                cdl.AddRow("LightEntry", s.LightEntry);
+                cdl.AddRow("LightFalloff", s.LightFalloff);
+                cdl.AddRow("LightIntensity", s.LightIntensity);
+                cdl.AddRow("LightRadius", s.LightRadius);
+                cdl.AddRow("Media", string.Format("{0} entries", s.Media != null ? s.Media.Count.ToString() : "n/a"));
+                cdl.AddRow("PathBegin", s.PathBegin);
+                cdl.AddRow("PathEnd", s.PathEnd);
+                cdl.AddRow("PathCurve", s.PathCurve);
+                cdl.AddRow("PathRadiusOffset", s.PathRadiusOffset);
+                cdl.AddRow("PathRevolutions", s.PathRevolutions);
+                cdl.AddRow("PathScale", string.Format("<{0},{1}>", s.PathScaleX, s.PathScaleY));
+                cdl.AddRow("PathSkew", string.Format("<{0},{1}>", s.PathShearX, s.PathShearY));
+                cdl.AddRow("FlexiDrag", s.PathSkew);
+                cdl.AddRow("PathTaper", string.Format("<{0},{1}>", s.PathTaperX, s.PathTaperY));
+                cdl.AddRow("PathTwist", s.PathTwist);
+                cdl.AddRow("PathTwistBegin", s.PathTwistBegin);
+                cdl.AddRow("PCode", s.PCode);
+                cdl.AddRow("ProfileBegin", s.ProfileBegin);
+                cdl.AddRow("ProfileEnd", s.ProfileEnd);
+                cdl.AddRow("ProfileHollow", s.ProfileHollow);
+                cdl.AddRow("ProfileShape", s.ProfileShape);
+                cdl.AddRow("ProjectionAmbiance", s.ProjectionAmbiance);
+                cdl.AddRow("ProjectionEntry", s.ProjectionEntry);
+                cdl.AddRow("ProjectionFocus", s.ProjectionFocus);
+                cdl.AddRow("ProjectionFOV", s.ProjectionFOV);
+                cdl.AddRow("ProjectionTextureUUID", s.ProjectionTextureUUID);
+                cdl.AddRow("Scale", s.Scale);
+                cdl.AddRow(
+                    "SculptData", 
+                    string.Format("{0} bytes", s.SculptData != null ? s.SculptData.Length.ToString() : "n/a"));
+                cdl.AddRow("SculptEntry", s.SculptEntry);
+                cdl.AddRow("SculptTexture", s.SculptTexture);
+                cdl.AddRow("SculptType", s.SculptType);
+                cdl.AddRow("State", s.State);
+
+                // TODO, unpack and display texture entries
+                //cdl.AddRow("Textures", string.Format("{0} entries", s.Textures.
+            }
+
             object itemsOutput;
             if (showFull)
             {
@@ -588,7 +643,6 @@ namespace OpenSim.Region.CoreModules.World.Objects.Commands
                 itemsOutput = sop.Inventory.Count;
             }
 
-
             cdl.AddRow("Items", itemsOutput);
 
             return sb.Append(cdl.ToString());
diff --git a/OpenSim/Region/CoreModules/World/Serialiser/Tests/SerialiserTests.cs b/OpenSim/Region/CoreModules/World/Serialiser/Tests/SerialiserTests.cs
index 7825e3e..b4348c9 100644
--- a/OpenSim/Region/CoreModules/World/Serialiser/Tests/SerialiserTests.cs
+++ b/OpenSim/Region/CoreModules/World/Serialiser/Tests/SerialiserTests.cs
@@ -35,11 +35,12 @@ using OpenSim.Framework;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Scenes.Serialization;
 using OpenSim.Tests.Common;
+using OpenMetaverse.StructuredData;
 
 namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
 {
     [TestFixture]
-    public class SerialiserTests
+    public class SerialiserTests : OpenSimTestCase
     {
         private string xml = @"
         <SceneObjectGroup>
@@ -143,6 +144,7 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
                     <Flags>None</Flags>
                     <CollisionSound><Guid>00000000-0000-0000-0000-000000000000</Guid></CollisionSound>
                     <CollisionSoundVolume>0</CollisionSoundVolume>
+                    <DynAttrs><llsd><map><key>MyStore</key><map><key>the answer</key><integer>42</integer></map></map></llsd></DynAttrs>
                 </SceneObjectPart>
             </RootPart>
             <OtherParts />
@@ -331,6 +333,7 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
                 <EveryoneMask>0</EveryoneMask>
                 <NextOwnerMask>2147483647</NextOwnerMask>
                 <Flags>None</Flags>
+                <DynAttrs><llsd><map><key>MyStore</key><map><key>last words</key><string>Rosebud</string></map></map></llsd></DynAttrs>
                 <SitTargetAvatar><UUID>00000000-0000-0000-0000-000000000000</UUID></SitTargetAvatar>
             </SceneObjectPart>
             <OtherParts />
@@ -359,6 +362,8 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
             Assert.That(rootPart.UUID, Is.EqualTo(new UUID("e6a5a05e-e8cc-4816-8701-04165e335790")));
             Assert.That(rootPart.CreatorID, Is.EqualTo(new UUID("a6dacf01-4636-4bb9-8a97-30609438af9d")));
             Assert.That(rootPart.Name, Is.EqualTo("PrimMyRide"));
+            OSDMap store = rootPart.DynAttrs["MyStore"];
+            Assert.AreEqual(42, store["the answer"].AsInteger());
 
             // TODO: Check other properties
         }
@@ -409,6 +414,14 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
             rp.CreatorID = rpCreatorId;
             rp.Shape = shape;
 
+            string daStoreName = "MyStore";
+            string daKey = "foo";
+            string daValue = "bar";
+            OSDMap myStore = new OSDMap();
+            myStore.Add(daKey, daValue);
+            rp.DynAttrs = new DAMap();
+            rp.DynAttrs[daStoreName] = myStore;
+
             SceneObjectGroup so = new SceneObjectGroup(rp);
 
             // Need to add the object to the scene so that the request to get script state succeeds
@@ -424,6 +437,7 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
             UUID uuid = UUID.Zero;
             string name = null;
             UUID creatorId = UUID.Zero;
+            DAMap daMap = null;
 
             while (xtr.Read() && xtr.Name != "SceneObjectPart")
             {
@@ -449,6 +463,10 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
                         creatorId = UUID.Parse(xtr.ReadElementString("UUID"));
                         xtr.ReadEndElement();
                         break;
+                    case "DynAttrs":
+                        daMap = new DAMap();
+                        daMap.ReadXml(xtr);
+                        break;
                 }
             }
 
@@ -462,6 +480,8 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
             Assert.That(uuid, Is.EqualTo(rpUuid));
             Assert.That(name, Is.EqualTo(rpName));
             Assert.That(creatorId, Is.EqualTo(rpCreatorId));
+            Assert.NotNull(daMap);
+            Assert.AreEqual(daValue, daMap[daStoreName][daKey].AsString());
         }
 
         [Test]
@@ -476,6 +496,8 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
             Assert.That(rootPart.UUID, Is.EqualTo(new UUID("9be68fdd-f740-4a0f-9675-dfbbb536b946")));
             Assert.That(rootPart.CreatorID, Is.EqualTo(new UUID("b46ef588-411e-4a8b-a284-d7dcfe8e74ef")));
             Assert.That(rootPart.Name, Is.EqualTo("PrimFun"));
+            OSDMap store = rootPart.DynAttrs["MyStore"];
+            Assert.AreEqual("Rosebud", store["last words"].AsString());
 
             // TODO: Check other properties
         }
@@ -500,6 +522,14 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
             rp.CreatorID = rpCreatorId;
             rp.Shape = shape;
 
+            string daStoreName = "MyStore";
+            string daKey = "foo";
+            string daValue = "bar";
+            OSDMap myStore = new OSDMap();
+            myStore.Add(daKey, daValue);
+            rp.DynAttrs = new DAMap();
+            rp.DynAttrs[daStoreName] = myStore;
+
             SceneObjectGroup so = new SceneObjectGroup(rp);
 
             // Need to add the object to the scene so that the request to get script state succeeds
@@ -516,6 +546,7 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
             UUID uuid = UUID.Zero;
             string name = null;
             UUID creatorId = UUID.Zero;
+            DAMap daMap = null;
 
             while (xtr.Read() && xtr.Name != "SceneObjectPart")
             {
@@ -537,6 +568,10 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
                         creatorId = UUID.Parse(xtr.ReadElementString("Guid"));
                         xtr.ReadEndElement();
                         break;
+                    case "DynAttrs":
+                        daMap = new DAMap();
+                        daMap.ReadXml(xtr);
+                        break;
                 }
             }
 
@@ -549,6 +584,8 @@ namespace OpenSim.Region.CoreModules.World.Serialiser.Tests
             Assert.That(uuid, Is.EqualTo(rpUuid));
             Assert.That(name, Is.EqualTo(rpName));
             Assert.That(creatorId, Is.EqualTo(rpCreatorId));
+            Assert.NotNull(daMap);
+            Assert.AreEqual(daValue, daMap[daStoreName][daKey].AsString());
         }
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Region/CoreModules/World/Sound/SoundModule.cs b/OpenSim/Region/CoreModules/World/Sound/SoundModule.cs
index 513a8f5..883045a 100644
--- a/OpenSim/Region/CoreModules/World/Sound/SoundModule.cs
+++ b/OpenSim/Region/CoreModules/World/Sound/SoundModule.cs
@@ -43,8 +43,8 @@ namespace OpenSim.Region.CoreModules.World.Sound
     [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "SoundModule")]
     public class SoundModule : INonSharedRegionModule, ISoundModule
     {
-        private static readonly ILog m_log = LogManager.GetLogger(
-                MethodBase.GetCurrentMethod().DeclaringType);
+//        private static readonly ILog m_log = LogManager.GetLogger(
+//                MethodBase.GetCurrentMethod().DeclaringType);
 
         private Scene m_scene;
 
@@ -76,7 +76,7 @@ namespace OpenSim.Region.CoreModules.World.Sound
 
         public void RemoveRegion(Scene scene)
         {
-            m_scene.EventManager.OnClientLogin -= OnNewClient;
+            m_scene.EventManager.OnNewClient -= OnNewClient;
         }
 
         public void RegionLoaded(Scene scene)
@@ -85,7 +85,7 @@ namespace OpenSim.Region.CoreModules.World.Sound
                 return;
 
             m_scene = scene;
-            m_scene.EventManager.OnClientLogin += OnNewClient;
+            m_scene.EventManager.OnNewClient += OnNewClient;
 
             m_scene.RegisterModuleInterface<ISoundModule>(this);
         }
diff --git a/OpenSim/Region/CoreModules/World/Sun/SunModule.cs b/OpenSim/Region/CoreModules/World/Sun/SunModule.cs
index a321c09..6f344c8 100644
--- a/OpenSim/Region/CoreModules/World/Sun/SunModule.cs
+++ b/OpenSim/Region/CoreModules/World/Sun/SunModule.cs
@@ -252,12 +252,11 @@ namespace OpenSim.Region.CoreModules
             }
 
             // TODO: Decouple this, so we can get rid of Linden Hour info
-            // Update Region infor with new Sun Position and Hour
+            // Update Region with new Sun Vector
             // set estate settings for region access to sun position
             if (receivedEstateToolsSunUpdate)
             {
                 m_scene.RegionInfo.RegionSettings.SunVector = Position;
-                m_scene.RegionInfo.RegionSettings.SunPosition = GetCurrentTimeAsLindenSunHour();
             }
         }
 
@@ -395,7 +394,7 @@ namespace OpenSim.Region.CoreModules
             ready = false;
 
             // Remove our hooks
-            m_scene.EventManager.OnFrame     -= SunUpdate;
+            m_scene.EventManager.OnFrame -= SunUpdate;
             m_scene.EventManager.OnAvatarEnteringNewParcel -= AvatarEnteringParcel;
             m_scene.EventManager.OnEstateToolsSunUpdate -= EstateToolsSunUpdate;
             m_scene.EventManager.OnGetCurrentTimeAsLindenSunHour -= GetCurrentTimeAsLindenSunHour;
@@ -459,26 +458,33 @@ namespace OpenSim.Region.CoreModules
             SunToClient(avatar.ControllingClient);
         }
 
-        /// <summary>
-        ///
-        /// </summary>
-        /// <param name="regionHandle"></param>
-        /// <param name="FixedTime">Is the sun's position fixed?</param>
-        /// <param name="useEstateTime">Use the Region or Estate Sun hour?</param>
-        /// <param name="FixedSunHour">What hour of the day is the Sun Fixed at?</param>
-        public void EstateToolsSunUpdate(ulong regionHandle, bool FixedSun, bool useEstateTime, float FixedSunHour)
+        public void EstateToolsSunUpdate(ulong regionHandle)
         {
             if (m_scene.RegionInfo.RegionHandle == regionHandle)
             {
-                // Must limit the Sun Hour to 0 ... 24
-                while (FixedSunHour > 24.0f)
-                    FixedSunHour -= 24;
+                float sunFixedHour;
+                bool fixedSun;
 
-                while (FixedSunHour < 0)
-                    FixedSunHour += 24;
+                if (m_scene.RegionInfo.RegionSettings.UseEstateSun)
+                {
+                    sunFixedHour = (float)m_scene.RegionInfo.EstateSettings.SunPosition;
+                    fixedSun = m_scene.RegionInfo.EstateSettings.FixedSun;
+                }
+                else
+                {
+                    sunFixedHour = (float)m_scene.RegionInfo.RegionSettings.SunPosition - 6.0f;
+                    fixedSun = m_scene.RegionInfo.RegionSettings.FixedSun;
+                }
+
+                // Must limit the Sun Hour to 0 ... 24
+                while (sunFixedHour > 24.0f)
+                    sunFixedHour -= 24;
 
-                m_SunFixedHour = FixedSunHour;
-                m_SunFixed = FixedSun;
+                while (sunFixedHour < 0)
+                    sunFixedHour += 24;
+                
+                m_SunFixedHour = sunFixedHour;
+                m_SunFixed = fixedSun;
 
                 // m_log.DebugFormat("[SUN]: Sun Settings Update: Fixed Sun? : {0}", m_SunFixed.ToString());
                 // m_log.DebugFormat("[SUN]: Sun Settings Update: Sun Hour   : {0}", m_SunFixedHour.ToString());
@@ -501,7 +507,7 @@ namespace OpenSim.Region.CoreModules
         {
             m_scene.ForEachRootClient(delegate(IClientAPI client)
             {
-                    SunToClient(client);
+                SunToClient(client);
             });
         }
 
diff --git a/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs b/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs
index 33aabe4..4d738a5 100644
--- a/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs
+++ b/OpenSim/Region/CoreModules/World/Terrain/TerrainModule.cs
@@ -480,7 +480,7 @@ namespace OpenSim.Region.CoreModules.World.Terrain
                 else
                 {
                     m_plugineffects[pluginName] = effect;
-                    m_log.Warn("E ... " + pluginName + " (Replaced)");
+                    m_log.Info("E ... " + pluginName + " (Replaced)");
                 }
             }
         }
diff --git a/OpenSim/Region/CoreModules/World/Terrain/Tests/TerrainTest.cs b/OpenSim/Region/CoreModules/World/Terrain/Tests/TerrainTest.cs
index 3d4f762..be719ea 100644
--- a/OpenSim/Region/CoreModules/World/Terrain/Tests/TerrainTest.cs
+++ b/OpenSim/Region/CoreModules/World/Terrain/Tests/TerrainTest.cs
@@ -30,11 +30,12 @@ using NUnit.Framework;
 using OpenSim.Framework;
 using OpenSim.Region.CoreModules.World.Terrain.PaintBrushes;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Region.CoreModules.World.Terrain.Tests
 {
     [TestFixture]
-    public class TerrainTest
+    public class TerrainTest : OpenSimTestCase
     {
         [Test]
         public void BrushTest()
diff --git a/OpenSim/Region/CoreModules/World/Wind/WindModule.cs b/OpenSim/Region/CoreModules/World/Wind/WindModule.cs
index fd8e2b4..9de588c 100644
--- a/OpenSim/Region/CoreModules/World/Wind/WindModule.cs
+++ b/OpenSim/Region/CoreModules/World/Wind/WindModule.cs
@@ -66,7 +66,7 @@ namespace OpenSim.Region.CoreModules
         public void Initialise(IConfigSource config)
         {
             m_windConfig = config.Configs["Wind"];
-            string desiredWindPlugin = m_dWindPluginName;
+//            string desiredWindPlugin = m_dWindPluginName;
 
             if (m_windConfig != null)
             {
diff --git a/OpenSim/Region/DataSnapshot/Properties/AssemblyInfo.cs b/OpenSim/Region/DataSnapshot/Properties/AssemblyInfo.cs
index b926264..0f083c7 100644
--- a/OpenSim/Region/DataSnapshot/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/DataSnapshot/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/Framework/Interfaces/IJsonStoreModule.cs b/OpenSim/Region/Framework/Interfaces/IJsonStoreModule.cs
index da39e95..d7907e3 100644
--- a/OpenSim/Region/Framework/Interfaces/IJsonStoreModule.cs
+++ b/OpenSim/Region/Framework/Interfaces/IJsonStoreModule.cs
@@ -31,18 +31,35 @@ using OpenMetaverse;
 
 namespace OpenSim.Region.Framework.Interfaces
 {
+    // these could be expanded at some point to provide more type information
+    // for now value accounts for all base types
+    public enum JsonStoreNodeType
+    {
+        Undefined = 0,
+        Object = 1,
+        Array = 2,
+        Value = 3
+    }
+    
     public delegate void TakeValueCallback(string s);
 
     public interface IJsonStoreModule
     {
+        bool AttachObjectStore(UUID objectID);
         bool CreateStore(string value, ref UUID result);
         bool DestroyStore(UUID storeID);
+
+        JsonStoreNodeType PathType(UUID storeID, string path);
+        bool TestStore(UUID storeID);
         bool TestPath(UUID storeID, string path, bool useJson);
+
         bool SetValue(UUID storeID, string path, string value, bool useJson);
         bool RemoveValue(UUID storeID, string path);
         bool GetValue(UUID storeID, string path, bool useJson, out string value);
 
         void TakeValue(UUID storeID, string path, bool useJson, TakeValueCallback cback);
         void ReadValue(UUID storeID, string path, bool useJson, TakeValueCallback cback);
+
+        int ArrayLength(UUID storeID, string path);
     }
 }
diff --git a/OpenSim/Region/Framework/Scenes/Scripting/IScriptHost.cs b/OpenSim/Region/Framework/Interfaces/ISceneCommandsModule.cs
index f3be028..c5e678b 100644
--- a/OpenSim/Region/Framework/Scenes/Scripting/IScriptHost.cs
+++ b/OpenSim/Region/Framework/Interfaces/ISceneCommandsModule.cs
@@ -9,7 +9,7 @@
  *     * 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
+ *     * Neither the name of the OpenSim Project nor the
  *       names of its contributors may be used to endorse or promote products
  *       derived from this software without specific prior written permission.
  *
@@ -25,22 +25,19 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
+using System;
+using System.Collections.Generic;
 using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Framework.Scenes;
 
-namespace OpenSim.Region.Framework.Scenes.Scripting
+namespace OpenSim.Region.Framework.Interfaces
 {
-    public interface IScriptHost
+    public interface ISceneCommandsModule
     {
-        string Name { get; set; }
-        string Description { get; set; }
-
-        UUID UUID { get; }
-        UUID OwnerID { get; }
-        UUID CreatorID { get; }
-        Vector3 AbsolutePosition { get; }
-
-        string SitName { get; set; }
-        string TouchName { get; set; }
-        void SetText(string text, Vector3 color, double alpha);
+        /// <summary>
+        /// Sets the scene debug options.
+        /// </summary>
+        void SetSceneDebugOptions(Dictionary<string, string> options);
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs b/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs
index 6db6674..093d3f0 100644
--- a/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs
+++ b/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs
@@ -34,5 +34,6 @@ namespace OpenSim.Region.Framework.Interfaces
         void RegisterNewReceiver(IScriptModule scriptEngine, UUID channelID, UUID objectID, UUID itemID, string url);
         void ScriptRemoved(UUID itemID);
         void ObjectRemoved(UUID objectID);
+        void UnRegisterReceiver(string channelID, UUID itemID);
     }
 }
diff --git a/OpenSim/Region/Framework/Properties/AssemblyInfo.cs b/OpenSim/Region/Framework/Properties/AssemblyInfo.cs
index 9b504c0..2a5828e 100644
--- a/OpenSim/Region/Framework/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/Framework/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/Framework/Scenes/Animation/AnimationSet.cs b/OpenSim/Region/Framework/Scenes/Animation/AnimationSet.cs
index 65ae445..66edfed 100644
--- a/OpenSim/Region/Framework/Scenes/Animation/AnimationSet.cs
+++ b/OpenSim/Region/Framework/Scenes/Animation/AnimationSet.cs
@@ -87,13 +87,24 @@ namespace OpenSim.Region.Framework.Scenes.Animation
             return false;
         }
 
-        public bool Remove(UUID animID)
+        /// <summary>
+        /// Remove the specified animation
+        /// </summary>
+        /// <param name='animID'></param>
+        /// <param name='allowNoDefault'>
+        /// If true, then the default animation can be entirely removed. 
+        /// If false, then removing the default animation will reset it to the simulator default (currently STAND).
+        /// </param>
+        public bool Remove(UUID animID, bool allowNoDefault)
         {
             lock (m_animations)
             {
                 if (m_defaultAnimation.AnimID == animID)
                 {
-                    m_defaultAnimation = new OpenSim.Framework.Animation(UUID.Zero, 1, UUID.Zero);
+                    if (allowNoDefault)
+                        m_defaultAnimation = new OpenSim.Framework.Animation(UUID.Zero, 1, UUID.Zero);
+                    else
+                        ResetDefaultAnimation();
                 }
                 else if (HasAnimation(animID))
                 {
diff --git a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
index 9458079..65c279e 100644
--- a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
+++ b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
@@ -26,9 +26,10 @@
  */
 
 using System;
-using System.Threading;
 using System.Collections.Generic;
+using System.Linq;
 using System.Reflection;
+using System.Threading;
 using log4net;
 using OpenMetaverse;
 using OpenSim.Framework;
@@ -86,6 +87,10 @@ namespace OpenSim.Region.Framework.Scenes.Animation
                 return;
 
             //            m_log.DebugFormat("[SCENE PRESENCE ANIMATOR]: Adding animation {0} for {1}", animID, m_scenePresence.Name);
+            if (m_scenePresence.Scene.DebugAnimations)
+                m_log.DebugFormat(
+                    "[SCENE PRESENCE ANIMATOR]: Adding animation {0} {1} for {2}", 
+                    GetAnimName(animID), animID, m_scenePresence.Name);
 
             if (m_animations.Add(animID, m_scenePresence.ControllingClient.NextAnimationSequenceNumber, objectID))
                 SendAnimPack();
@@ -108,12 +113,25 @@ namespace OpenSim.Region.Framework.Scenes.Animation
             AddAnimation(animID, objectID);
         }
 
-        public void RemoveAnimation(UUID animID)
+        /// <summary>
+        /// Remove the specified animation
+        /// </summary>
+        /// <param name='animID'></param>
+        /// <param name='allowNoDefault'>
+        /// If true, then the default animation can be entirely removed. 
+        /// If false, then removing the default animation will reset it to the simulator default (currently STAND).
+        /// </param>
+        public void RemoveAnimation(UUID animID, bool allowNoDefault)
         {
             if (m_scenePresence.IsChildAgent)
                 return;
 
-            if (m_animations.Remove(animID))
+            if (m_scenePresence.Scene.DebugAnimations)
+                m_log.DebugFormat(
+                    "[SCENE PRESENCE ANIMATOR]: Removing animation {0} {1} for {2}", 
+                    GetAnimName(animID), animID, m_scenePresence.Name);
+
+            if (m_animations.Remove(animID, allowNoDefault))
                 SendAnimPack();
         }
 
@@ -127,7 +145,7 @@ namespace OpenSim.Region.Framework.Scenes.Animation
                 if (addRemove)
                     m_animations.Add(animID, m_scenePresence.ControllingClient.NextAnimationSequenceNumber, UUID.Zero);
                 else
-                    m_animations.Remove(animID);
+                    m_animations.Remove(animID, true);
             }
             if(sendPack)
                 SendAnimPack();
@@ -145,14 +163,15 @@ namespace OpenSim.Region.Framework.Scenes.Animation
             if (animID == UUID.Zero)
                 return;
 
-            RemoveAnimation(animID);
+            RemoveAnimation(animID, true);
         }
 
         public void ResetAnimations()
         {
-//            m_log.DebugFormat(
-//                "[SCENE PRESENCE ANIMATOR]: Resetting animations for {0} in {1}",
-//                m_scenePresence.Name, m_scenePresence.Scene.RegionInfo.RegionName);
+            if (m_scenePresence.Scene.DebugAnimations)
+                m_log.DebugFormat(
+                    "[SCENE PRESENCE ANIMATOR]: Resetting animations for {0} in {1}",
+                    m_scenePresence.Name, m_scenePresence.Scene.RegionInfo.RegionName);
 
             m_animations.Clear();
         }
@@ -519,6 +538,12 @@ namespace OpenSim.Region.Framework.Scenes.Animation
             if (m_scenePresence.IsChildAgent)
                 return;
 
+//            m_log.DebugFormat(
+//                "[SCENE PRESENCE ANIMATOR]: Sending anim pack with animations '{0}', sequence '{1}', uuids '{2}'", 
+//                string.Join(",", Array.ConvertAll<UUID, string>(animations, a => a.ToString())), 
+//                string.Join(",", Array.ConvertAll<int, string>(seqs, s => s.ToString())),
+//                string.Join(",", Array.ConvertAll<UUID, string>(objectIDs, o => o.ToString())));
+
             m_scenePresence.Scene.ForEachClient(
                 delegate(IClientAPI client) 
                 { 
@@ -557,5 +582,21 @@ namespace OpenSim.Region.Framework.Scenes.Animation
 
             SendAnimPack(animIDs, sequenceNums, objectIDs);
         }
+
+        public string GetAnimName(UUID animId)
+        {
+            string animName;
+
+            if (!DefaultAvatarAnimations.AnimsNames.TryGetValue(animId, out animName))
+            {
+                AssetMetadata amd = m_scenePresence.Scene.AssetService.GetMetadata(animId.ToString());
+                if (amd != null)
+                    animName = amd.Name;
+                else
+                    animName = "Unknown";
+            }
+
+            return animName;
+        }
     }
 }
diff --git a/OpenSim/Region/Framework/Scenes/EntityManager.cs b/OpenSim/Region/Framework/Scenes/EntityManager.cs
index b788a3c..7181313 100644
--- a/OpenSim/Region/Framework/Scenes/EntityManager.cs
+++ b/OpenSim/Region/Framework/Scenes/EntityManager.cs
@@ -31,6 +31,7 @@ using System.Collections.Generic;
 using System.Reflection;
 using log4net;
 using OpenMetaverse;
+using OpenSim.Framework;
 
 namespace OpenSim.Region.Framework.Scenes
 {
@@ -38,7 +39,8 @@ namespace OpenSim.Region.Framework.Scenes
     {
 //        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         
-        private readonly DoubleDictionary<UUID, uint, EntityBase> m_entities = new DoubleDictionary<UUID, uint, EntityBase>();
+        private readonly DoubleDictionaryThreadAbortSafe<UUID, uint, EntityBase> m_entities 
+            = new DoubleDictionaryThreadAbortSafe<UUID, uint, EntityBase>();
 
         public int Count
         {
diff --git a/OpenSim/Region/Framework/Scenes/EventManager.cs b/OpenSim/Region/Framework/Scenes/EventManager.cs
index 5b1c9f4..052a05e 100644
--- a/OpenSim/Region/Framework/Scenes/EventManager.cs
+++ b/OpenSim/Region/Framework/Scenes/EventManager.cs
@@ -550,6 +550,20 @@ namespace OpenSim.Region.Framework.Scenes
         /// </remarks>
         public event ScriptControlEvent OnScriptControlEvent;
 
+        public delegate void ScriptMovingStartEvent(uint localID);
+
+        /// <summary>
+        /// TODO: Should be triggered when a physics object starts moving.
+        /// </summary>
+        public event ScriptMovingStartEvent OnScriptMovingStartEvent;
+   
+        public delegate void ScriptMovingEndEvent(uint localID);
+
+        /// <summary>
+        /// TODO: Should be triggered when a physics object stops moving.
+        /// </summary>
+        public event ScriptMovingEndEvent OnScriptMovingEndEvent;
+
         public delegate void ScriptAtTargetEvent(uint localID, uint handle, Vector3 targetpos, Vector3 atpos);
 
         /// <summary>
@@ -755,7 +769,7 @@ namespace OpenSim.Region.Framework.Scenes
         public event ScriptTimerEvent OnScriptTimerEvent;
          */
 
-        public delegate void EstateToolsSunUpdate(ulong regionHandle, bool FixedTime, bool EstateSun, float LindenHour);
+        public delegate void EstateToolsSunUpdate(ulong regionHandle);
         public delegate void GetScriptRunning(IClientAPI controllingClient, UUID objectID, UUID itemID);
 
         public event EstateToolsSunUpdate OnEstateToolsSunUpdate;
@@ -2238,6 +2252,48 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
+        public void TriggerMovingStartEvent(uint localID)
+        {
+            ScriptMovingStartEvent handlerScriptMovingStartEvent = OnScriptMovingStartEvent;
+            if (handlerScriptMovingStartEvent != null)
+            {
+                foreach (ScriptMovingStartEvent d in handlerScriptMovingStartEvent.GetInvocationList())
+                {
+                    try
+                    {
+                        d(localID);
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.ErrorFormat(
+                            "[EVENT MANAGER]: Delegate for TriggerMovingStartEvent failed - continuing.  {0} {1}",
+                            e.Message, e.StackTrace);
+                    }
+                }
+            }
+        }
+
+        public void TriggerMovingEndEvent(uint localID)
+        {
+            ScriptMovingEndEvent handlerScriptMovingEndEvent = OnScriptMovingEndEvent;
+            if (handlerScriptMovingEndEvent != null)
+            {
+                foreach (ScriptMovingEndEvent d in handlerScriptMovingEndEvent.GetInvocationList())
+                {
+                    try
+                    {
+                        d(localID);
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.ErrorFormat(
+                            "[EVENT MANAGER]: Delegate for TriggerMovingEndEvent failed - continuing.  {0} {1}",
+                            e.Message, e.StackTrace);
+                    }
+                }
+            }
+        }
+
         public void TriggerRequestChangeWaterHeight(float height)
         {
             if (height < 0)
@@ -2536,13 +2592,10 @@ namespace OpenSim.Region.Framework.Scenes
         }
 
         /// <summary>
-        /// Updates the system as to how the position of the sun should be handled.
+        /// Called when the sun's position parameters have changed in the Region and/or Estate
         /// </summary>
-        /// <param name="regionHandle"></param>
-        /// <param name="FixedTime">True if the Sun Position is fixed</param>
-        /// <param name="useEstateTime">True if the Estate Settings should be used instead of region</param>
-        /// <param name="FixedSunHour">The hour 0.0 <= FixedSunHour <= 24.0 at which the sun is fixed at. Sun Hour 0 is sun-rise, when Day/Night ratio is 1:1</param>
-        public void TriggerEstateToolsSunUpdate(ulong regionHandle, bool FixedTime, bool useEstateTime, float FixedSunHour)
+        /// <param name="regionHandle">The region that changed</param>
+        public void TriggerEstateToolsSunUpdate(ulong regionHandle)
         {
             EstateToolsSunUpdate handlerEstateToolsSunUpdate = OnEstateToolsSunUpdate;
             if (handlerEstateToolsSunUpdate != null)
@@ -2551,7 +2604,7 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     try
                     {
-                        d(regionHandle, FixedTime, useEstateTime, FixedSunHour);
+                        d(regionHandle);
                     }
                     catch (Exception e)
                     {
diff --git a/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs b/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
index 4130029..a9e1fc2 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
@@ -684,12 +684,10 @@ namespace OpenSim.Region.Framework.Scenes
             itemCopy.SalePrice = item.SalePrice;
             itemCopy.SaleType = item.SaleType;
 
-            if (AddInventoryItem(itemCopy))
-            {
-                IInventoryAccessModule invAccess = RequestModuleInterface<IInventoryAccessModule>();
-                if (invAccess != null)
-                    Util.FireAndForget(delegate { invAccess.TransferInventoryAssets(itemCopy, senderId, recipient); });
-            }
+            IInventoryAccessModule invAccess = RequestModuleInterface<IInventoryAccessModule>();
+            if (invAccess != null)
+                invAccess.TransferInventoryAssets(itemCopy, senderId, recipient);
+            AddInventoryItem(itemCopy);
 
             if (!Permissions.BypassPermissions())
             {
@@ -1786,6 +1784,21 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns>The part where the script was rezzed if successful.  False otherwise.</returns>
         public SceneObjectPart RezNewScript(UUID agentID, InventoryItemBase itemBase)
         {
+            return RezNewScript(
+                agentID,
+                itemBase,
+                "default\n{\n    state_entry()\n    {\n        llSay(0, \"Script running\");\n    }\n}");
+        }
+
+        /// <summary>
+        /// Rez a new script from nothing with given script text.
+        /// </summary>
+        /// <param name="remoteClient"></param>
+        /// <param name="itemBase">Template item.</param>
+        /// <param name="scriptText"></param>
+        /// <returns>The part where the script was rezzed if successful.  False otherwise.</returns>
+        public SceneObjectPart RezNewScript(UUID agentID, InventoryItemBase itemBase, string scriptText)
+        {
             // The part ID is the folder ID!
             SceneObjectPart part = GetSceneObjectPart(itemBase.Folder);
             if (part == null)
@@ -1805,9 +1818,14 @@ namespace OpenSim.Region.Framework.Scenes
                 return null;
             }
 
-            AssetBase asset = CreateAsset(itemBase.Name, itemBase.Description, (sbyte)itemBase.AssetType,
-                Encoding.ASCII.GetBytes("default\n{\n    state_entry()\n    {\n        llSay(0, \"Script running\");\n    }\n\n    touch_start(integer num)\n    {\n    }\n}"),
-                agentID);
+            AssetBase asset 
+                = CreateAsset(
+                    itemBase.Name, 
+                    itemBase.Description, 
+                    (sbyte)itemBase.AssetType,
+                    Encoding.ASCII.GetBytes(scriptText), 
+                    agentID);
+
             AssetService.Store(asset);
 
             TaskInventoryItem taskItem = new TaskInventoryItem();
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index e58aadc..1a1c3d2 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -68,14 +68,84 @@ namespace OpenSim.Region.Framework.Scenes
         public bool EmergencyMonitoring = false;
 
         /// <summary>
+        /// Show debug information about animations.
+        /// </summary>
+        public bool DebugAnimations { get; set; }
+
+        /// <summary>
         /// Show debug information about teleports.
         /// </summary>
-        public bool DebugTeleporting { get; private set; }
+        public bool DebugTeleporting { get; set; }
 
         /// <summary>
         /// Show debug information about the scene loop.
         /// </summary>
-        public bool DebugUpdates { get; private set; }
+        public bool DebugUpdates { get; set; }
+
+        /// <summary>
+        /// If true then the scene is saved to persistent storage periodically, every m_update_backup frames and
+        /// if objects meet required conditions (m_dontPersistBefore and m_dontPersistAfter).
+        /// </summary>
+        /// <remarks>
+        /// Even if false, the scene will still be saved on clean shutdown.
+        /// FIXME: Currently, setting this to false will mean that objects are not periodically returned from parcels.  
+        /// This needs to be fixed.
+        /// </remarks>
+        public bool PeriodicBackup { get; set; }
+
+        /// <summary>
+        /// If false then the scene is never saved to persistence storage even if PeriodicBackup == true and even
+        /// if the scene is being shut down for the final time.
+        /// </summary>
+        public bool UseBackup { get; set; }
+
+        /// <summary>
+        /// If false then physical objects are disabled, though collisions will continue as normal.
+        /// </summary>
+        public bool PhysicsEnabled { get; set; }
+
+        /// <summary>
+        /// If false then scripts are not enabled on the smiulator
+        /// </summary>
+        public bool ScriptsEnabled 
+        { 
+            get { return m_scripts_enabled; }
+            set 
+            {
+                if (m_scripts_enabled != value)
+                {
+                    if (!value)
+                    {
+                        m_log.Info("Stopping all Scripts in Scene");
+
+                        EntityBase[] entities = Entities.GetEntities();
+                        foreach (EntityBase ent in entities)
+                        {
+                            if (ent is SceneObjectGroup)
+                                ((SceneObjectGroup)ent).RemoveScriptInstances(false);
+                        }
+                    }
+                    else
+                    {
+                        m_log.Info("Starting all Scripts in Scene");
+    
+                        EntityBase[] entities = Entities.GetEntities();
+                        foreach (EntityBase ent in entities)
+                        {
+                            if (ent is SceneObjectGroup)
+                            {
+                                SceneObjectGroup sog = (SceneObjectGroup)ent;
+                                sog.CreateScriptInstances(0, false, DefaultScriptEngine, 0);
+                                sog.ResumeScripts();
+                            }
+                        }
+                    }
+
+                    m_scripts_enabled = value;
+                }
+            }
+        }
+        private bool m_scripts_enabled;
 
         public SynchronizeSceneHandler SynchronizeScene;
 
@@ -284,8 +354,6 @@ namespace OpenSim.Region.Framework.Scenes
         private Dictionary<UUID, ReturnInfo> m_returns = new Dictionary<UUID, ReturnInfo>();
         private Dictionary<UUID, int> m_groupsWithTargets = new Dictionary<UUID, int>();
 
-        private bool m_physics_enabled = true;
-        private bool m_scripts_enabled = true;
         private string m_defaultScriptEngine;
 
         /// <summary>
@@ -348,7 +416,6 @@ namespace OpenSim.Region.Framework.Scenes
 
         private Timer m_mapGenerationTimer = new Timer();
         private bool m_generateMaptiles;
-        private bool m_useBackup = true;
 
         #endregion Fields
 
@@ -614,11 +681,6 @@ namespace OpenSim.Region.Framework.Scenes
             get { return m_authenticateHandler; }
         }
 
-        public bool UseBackup
-        {
-            get { return m_useBackup; }
-        }
-
         // an instance to the physics plugin's Scene object.
         public PhysicsScene PhysicsScene
         {
@@ -678,7 +740,6 @@ namespace OpenSim.Region.Framework.Scenes
         public Scene(RegionInfo regInfo, AgentCircuitManager authen,
                      SceneCommunicationService sceneGridService,
                      ISimulationDataService simDataService, IEstateDataService estateDataService,
-                     bool dumpAssetsToFile,
                      IConfigSource config, string simulatorVersion)
             : this(regInfo)
         {
@@ -762,15 +823,20 @@ namespace OpenSim.Region.Framework.Scenes
             //
             // Out of memory
             // Operating system has killed the plugin
-            m_sceneGraph.UnRecoverableError += RestartNow;
+            m_sceneGraph.UnRecoverableError 
+                += () => 
+                    { 
+                        m_log.ErrorFormat("[SCENE]: Restarting region {0} due to unrecoverable physics crash", Name); 
+                        RestartNow(); 
+                    };
 
             RegisterDefaultSceneEvents();
 
-            DumpAssetsToFile = dumpAssetsToFile;
-
+            // XXX: Don't set the public property since we don't want to activate here.  This needs to be handled 
+            // better in the future.
             m_scripts_enabled = !RegionInfo.RegionSettings.DisableScripts;
 
-            m_physics_enabled = !RegionInfo.RegionSettings.DisablePhysics;
+            PhysicsEnabled = !RegionInfo.RegionSettings.DisablePhysics;
 
             m_simulatorVersion = simulatorVersion + " (" + Util.GetRuntimeInformation() + ")";
 
@@ -778,141 +844,139 @@ namespace OpenSim.Region.Framework.Scenes
 
             // Region config overrides global config
             //
-            try
+            if (m_config.Configs["Startup"] != null)
             {
-                if (m_config.Configs["Startup"] != null)
-                {
-                    IConfig startupConfig = m_config.Configs["Startup"];
+                IConfig startupConfig = m_config.Configs["Startup"];
 
-                    StartDisabled = startupConfig.GetBoolean("StartDisabled", false);
+                StartDisabled = startupConfig.GetBoolean("StartDisabled", false);
 
-                    m_defaultDrawDistance = startupConfig.GetFloat("DefaultDrawDistance",m_defaultDrawDistance);
-                    m_useBackup = startupConfig.GetBoolean("UseSceneBackup", m_useBackup);
-                    if (!m_useBackup)
-                        m_log.InfoFormat("[SCENE]: Backup has been disabled for {0}", RegionInfo.RegionName);
-                    
-                    //Animation states
-                    m_useFlySlow = startupConfig.GetBoolean("enableflyslow", false);
+                m_defaultDrawDistance = startupConfig.GetFloat("DefaultDrawDistance",m_defaultDrawDistance);
+                UseBackup = startupConfig.GetBoolean("UseSceneBackup", UseBackup);
+                if (!UseBackup)
+                    m_log.InfoFormat("[SCENE]: Backup has been disabled for {0}", RegionInfo.RegionName);
+                
+                //Animation states
+                m_useFlySlow = startupConfig.GetBoolean("enableflyslow", false);
 
-                    PhysicalPrims = startupConfig.GetBoolean("physical_prim", true);
-                    CollidablePrims = startupConfig.GetBoolean("collidable_prim", true);
+                PhysicalPrims = startupConfig.GetBoolean("physical_prim", true);
+                CollidablePrims = startupConfig.GetBoolean("collidable_prim", true);
 
-                    m_minNonphys = startupConfig.GetFloat("NonPhysicalPrimMin", m_minNonphys);
-                    if (RegionInfo.NonphysPrimMin > 0)
-                    {
-                        m_minNonphys = RegionInfo.NonphysPrimMin;
-                    }
+                m_minNonphys = startupConfig.GetFloat("NonPhysicalPrimMin", m_minNonphys);
+                if (RegionInfo.NonphysPrimMin > 0)
+                {
+                    m_minNonphys = RegionInfo.NonphysPrimMin;
+                }
 
-                    m_maxNonphys = startupConfig.GetFloat("NonPhysicalPrimMax", m_maxNonphys);
-                    if (RegionInfo.NonphysPrimMax > 0)
-                    {
-                        m_maxNonphys = RegionInfo.NonphysPrimMax;
-                    }
+                m_maxNonphys = startupConfig.GetFloat("NonPhysicalPrimMax", m_maxNonphys);
+                if (RegionInfo.NonphysPrimMax > 0)
+                {
+                    m_maxNonphys = RegionInfo.NonphysPrimMax;
+                }
 
-                    m_minPhys = startupConfig.GetFloat("PhysicalPrimMin", m_minPhys);
-                    if (RegionInfo.PhysPrimMin > 0)
-                    {
-                        m_minPhys = RegionInfo.PhysPrimMin;
-                    }
+                m_minPhys = startupConfig.GetFloat("PhysicalPrimMin", m_minPhys);
+                if (RegionInfo.PhysPrimMin > 0)
+                {
+                    m_minPhys = RegionInfo.PhysPrimMin;
+                }
 
-                    m_maxPhys = startupConfig.GetFloat("PhysicalPrimMax", m_maxPhys);
+                m_maxPhys = startupConfig.GetFloat("PhysicalPrimMax", m_maxPhys);
 
-                    if (RegionInfo.PhysPrimMax > 0)
-                    {
-                        m_maxPhys = RegionInfo.PhysPrimMax;
-                    }
+                if (RegionInfo.PhysPrimMax > 0)
+                {
+                    m_maxPhys = RegionInfo.PhysPrimMax;
+                }
 
-                    m_linksetCapacity = startupConfig.GetInt("LinksetPrims", m_linksetCapacity);
-                    if (RegionInfo.LinksetCapacity > 0)
-                    {
-                        m_linksetCapacity = RegionInfo.LinksetCapacity;
-                    }
+                m_linksetCapacity = startupConfig.GetInt("LinksetPrims", m_linksetCapacity);
+                if (RegionInfo.LinksetCapacity > 0)
+                {
+                    m_linksetCapacity = RegionInfo.LinksetCapacity;
+                }
 
-                    SpawnPointRouting = startupConfig.GetString("SpawnPointRouting", "closest");
-                    TelehubAllowLandmarks = startupConfig.GetBoolean("TelehubAllowLandmark", false);
+                SpawnPointRouting = startupConfig.GetString("SpawnPointRouting", "closest");
+                TelehubAllowLandmarks = startupConfig.GetBoolean("TelehubAllowLandmark", false);
 
-                    // Here, if clamping is requested in either global or
-                    // local config, it will be used
-                    //
-                    m_clampPrimSize = startupConfig.GetBoolean("ClampPrimSize", m_clampPrimSize);
-                    if (RegionInfo.ClampPrimSize)
+                // Here, if clamping is requested in either global or
+                // local config, it will be used
+                //
+                m_clampPrimSize = startupConfig.GetBoolean("ClampPrimSize", m_clampPrimSize);
+                if (RegionInfo.ClampPrimSize)
+                {
+                    m_clampPrimSize = true;
+                }
+
+                m_useTrashOnDelete = startupConfig.GetBoolean("UseTrashOnDelete",m_useTrashOnDelete);
+                m_trustBinaries = startupConfig.GetBoolean("TrustBinaries", m_trustBinaries);
+                m_allowScriptCrossings = startupConfig.GetBoolean("AllowScriptCrossing", m_allowScriptCrossings);
+                m_dontPersistBefore =
+                  startupConfig.GetLong("MinimumTimeBeforePersistenceConsidered", DEFAULT_MIN_TIME_FOR_PERSISTENCE);
+                m_dontPersistBefore *= 10000000;
+                m_persistAfter =
+                  startupConfig.GetLong("MaximumTimeBeforePersistenceConsidered", DEFAULT_MAX_TIME_FOR_PERSISTENCE);
+                m_persistAfter *= 10000000;
+
+                m_defaultScriptEngine = startupConfig.GetString("DefaultScriptEngine", "XEngine");
+                m_log.InfoFormat("[SCENE]: Default script engine {0}", m_defaultScriptEngine);
+
+                m_strictAccessControl = startupConfig.GetBoolean("StrictAccessControl", m_strictAccessControl);
+                m_seeIntoBannedRegion = startupConfig.GetBoolean("SeeIntoBannedRegion", m_seeIntoBannedRegion);
+                CombineRegions = startupConfig.GetBoolean("CombineContiguousRegions", false);
+
+                m_generateMaptiles = startupConfig.GetBoolean("GenerateMaptiles", true);
+                if (m_generateMaptiles)
+                {
+                    int maptileRefresh = startupConfig.GetInt("MaptileRefresh", 0);
+                    if (maptileRefresh != 0)
                     {
-                        m_clampPrimSize = true;
+                        m_mapGenerationTimer.Interval = maptileRefresh * 1000;
+                        m_mapGenerationTimer.Elapsed += RegenerateMaptileAndReregister;
+                        m_mapGenerationTimer.AutoReset = true;
+                        m_mapGenerationTimer.Start();
                     }
+                }
+                else
+                {
+                    string tile = startupConfig.GetString("MaptileStaticUUID", UUID.Zero.ToString());
+                    UUID tileID;
 
-                    m_useTrashOnDelete = startupConfig.GetBoolean("UseTrashOnDelete",m_useTrashOnDelete);
-                    m_trustBinaries = startupConfig.GetBoolean("TrustBinaries", m_trustBinaries);
-                    m_allowScriptCrossings = startupConfig.GetBoolean("AllowScriptCrossing", m_allowScriptCrossings);
-                    m_dontPersistBefore =
-                      startupConfig.GetLong("MinimumTimeBeforePersistenceConsidered", DEFAULT_MIN_TIME_FOR_PERSISTENCE);
-                    m_dontPersistBefore *= 10000000;
-                    m_persistAfter =
-                      startupConfig.GetLong("MaximumTimeBeforePersistenceConsidered", DEFAULT_MAX_TIME_FOR_PERSISTENCE);
-                    m_persistAfter *= 10000000;
-
-                    m_defaultScriptEngine = startupConfig.GetString("DefaultScriptEngine", "XEngine");
-                    m_log.InfoFormat("[SCENE]: Default script engine {0}", m_defaultScriptEngine);
-
-                    m_strictAccessControl = startupConfig.GetBoolean("StrictAccessControl", m_strictAccessControl);
-                    m_seeIntoBannedRegion = startupConfig.GetBoolean("SeeIntoBannedRegion", m_seeIntoBannedRegion);
-                    CombineRegions = startupConfig.GetBoolean("CombineContiguousRegions", false);
-
-                    m_generateMaptiles = startupConfig.GetBoolean("GenerateMaptiles", true);
-                    if (m_generateMaptiles)
+                    if (tile != UUID.Zero.ToString() && UUID.TryParse(tile, out tileID))
                     {
-                        int maptileRefresh = startupConfig.GetInt("MaptileRefresh", 0);
-                        if (maptileRefresh != 0)
-                        {
-                            m_mapGenerationTimer.Interval = maptileRefresh * 1000;
-                            m_mapGenerationTimer.Elapsed += RegenerateMaptileAndReregister;
-                            m_mapGenerationTimer.AutoReset = true;
-                            m_mapGenerationTimer.Start();
-                        }
+                        RegionInfo.RegionSettings.TerrainImageID = tileID;
                     }
                     else
                     {
-                        string tile = startupConfig.GetString("MaptileStaticUUID", UUID.Zero.ToString());
-                        UUID tileID;
-
-                        if (UUID.TryParse(tile, out tileID))
-                        {
-                            RegionInfo.RegionSettings.TerrainImageID = tileID;
-                        }
+                        RegionInfo.RegionSettings.TerrainImageID = RegionInfo.MaptileStaticUUID;
+                        m_log.InfoFormat("[SCENE]: Region {0}, maptile set to {1}", RegionInfo.RegionName, RegionInfo.MaptileStaticUUID.ToString());
                     }
+                }
 
-                    string grant = startupConfig.GetString("AllowedClients", String.Empty);
-                    if (grant.Length > 0)
+                string grant = startupConfig.GetString("AllowedClients", String.Empty);
+                if (grant.Length > 0)
+                {
+                    foreach (string viewer in grant.Split(','))
                     {
-                        foreach (string viewer in grant.Split(','))
-                        {
-                            m_AllowedViewers.Add(viewer.Trim().ToLower());
-                        }
+                        m_AllowedViewers.Add(viewer.Trim().ToLower());
                     }
+                }
 
-                    grant = startupConfig.GetString("BannedClients", String.Empty);
-                    if (grant.Length > 0)
+                grant = startupConfig.GetString("BannedClients", String.Empty);
+                if (grant.Length > 0)
+                {
+                    foreach (string viewer in grant.Split(','))
                     {
-                        foreach (string viewer in grant.Split(','))
-                        {
-                            m_BannedViewers.Add(viewer.Trim().ToLower());
-                        }
+                        m_BannedViewers.Add(viewer.Trim().ToLower());
                     }
-
-                    MinFrameTime              = startupConfig.GetFloat( "MinFrameTime",                      MinFrameTime);
-                    m_update_backup           = startupConfig.GetInt(   "UpdateStorageEveryNFrames",         m_update_backup);
-                    m_update_coarse_locations = startupConfig.GetInt(   "UpdateCoarseLocationsEveryNFrames", m_update_coarse_locations);
-                    m_update_entitymovement   = startupConfig.GetInt(   "UpdateEntityMovementEveryNFrames",  m_update_entitymovement);
-                    m_update_events           = startupConfig.GetInt(   "UpdateEventsEveryNFrames",          m_update_events);
-                    m_update_objects          = startupConfig.GetInt(   "UpdateObjectsEveryNFrames",         m_update_objects);
-                    m_update_physics          = startupConfig.GetInt(   "UpdatePhysicsEveryNFrames",         m_update_physics);
-                    m_update_presences        = startupConfig.GetInt(   "UpdateAgentsEveryNFrames",          m_update_presences);
-                    m_update_terrain          = startupConfig.GetInt(   "UpdateTerrainEveryNFrames",         m_update_terrain);
-                    m_update_temp_cleaning    = startupConfig.GetInt(   "UpdateTempCleaningEveryNFrames",    m_update_temp_cleaning);
                 }
-            }
-            catch (Exception e)
-            {
-                m_log.Error("[SCENE]: Failed to load StartupConfig: " + e.ToString());
+
+                MinFrameTime              = startupConfig.GetFloat( "MinFrameTime",                      MinFrameTime);
+                m_update_backup           = startupConfig.GetInt(   "UpdateStorageEveryNFrames",         m_update_backup);
+                m_update_coarse_locations = startupConfig.GetInt(   "UpdateCoarseLocationsEveryNFrames", m_update_coarse_locations);
+                m_update_entitymovement   = startupConfig.GetInt(   "UpdateEntityMovementEveryNFrames",  m_update_entitymovement);
+                m_update_events           = startupConfig.GetInt(   "UpdateEventsEveryNFrames",          m_update_events);
+                m_update_objects          = startupConfig.GetInt(   "UpdateObjectsEveryNFrames",         m_update_objects);
+                m_update_physics          = startupConfig.GetInt(   "UpdatePhysicsEveryNFrames",         m_update_physics);
+                m_update_presences        = startupConfig.GetInt(   "UpdateAgentsEveryNFrames",          m_update_presences);
+                m_update_terrain          = startupConfig.GetInt(   "UpdateTerrainEveryNFrames",         m_update_terrain);
+                m_update_temp_cleaning    = startupConfig.GetInt(   "UpdateTempCleaningEveryNFrames",    m_update_temp_cleaning);
             }
 
             // FIXME: Ultimately this should be in a module.
@@ -965,6 +1029,10 @@ namespace OpenSim.Region.Framework.Scenes
         {
             PhysicalPrims = true;
             CollidablePrims = true;
+            PhysicsEnabled = true;
+
+            PeriodicBackup = true;
+            UseBackup = true;
 
             BordersLocked = true;
             Border northBorder = new Border();
@@ -1207,83 +1275,6 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
-        public void SetSceneCoreDebug(Dictionary<string, string> options)
-        {
-            if (options.ContainsKey("active"))
-            {
-                bool active;
-
-                if (bool.TryParse(options["active"], out active))
-                    Active = active;
-            }
-
-            if (options.ContainsKey("scripting"))
-            {
-                bool enableScripts = true;
-                if (bool.TryParse(options["scripting"], out enableScripts) && m_scripts_enabled != enableScripts)
-                {
-                    if (!enableScripts)
-                    {
-                        m_log.Info("Stopping all Scripts in Scene");
-                        
-                        EntityBase[] entities = Entities.GetEntities();
-                        foreach (EntityBase ent in entities)
-                        {
-                            if (ent is SceneObjectGroup)
-                                ((SceneObjectGroup)ent).RemoveScriptInstances(false);
-                        }
-                    }
-                    else
-                    {
-                        m_log.Info("Starting all Scripts in Scene");
-    
-                        EntityBase[] entities = Entities.GetEntities();
-                        foreach (EntityBase ent in entities)
-                        {
-                            if (ent is SceneObjectGroup)
-                            {
-                                SceneObjectGroup sog = (SceneObjectGroup)ent;
-                                sog.CreateScriptInstances(0, false, DefaultScriptEngine, 0);
-                                sog.ResumeScripts();
-                            }
-                        }
-                    }
-
-                    m_scripts_enabled = enableScripts;
-                }
-            }
-
-            if (options.ContainsKey("physics"))
-            {
-                bool enablePhysics;
-                if (bool.TryParse(options["physics"], out enablePhysics))
-                    m_physics_enabled = enablePhysics;
-            }
-
-//            if (options.ContainsKey("collisions"))
-//            {
-//                // TODO: Implement.  If false, should stop objects colliding, though possibly should still allow
-//                // the avatar themselves to collide with the ground.
-//            }
-
-            if (options.ContainsKey("teleport"))
-            {
-                bool enableTeleportDebugging;
-                if (bool.TryParse(options["teleport"], out enableTeleportDebugging))
-                    DebugTeleporting = enableTeleportDebugging;
-            }
-
-            if (options.ContainsKey("updates"))
-            {
-                bool enableUpdateDebugging;
-                if (bool.TryParse(options["updates"], out enableUpdateDebugging))
-                {
-                    DebugUpdates = enableUpdateDebugging;
-                    GcNotify.Enabled = DebugUpdates;
-                }
-            }
-        }
-
         public int GetInaccurateNeighborCount()
         {
             return m_neighbours.Count;
@@ -1332,16 +1323,7 @@ namespace OpenSim.Region.Framework.Scenes
 
             m_log.Debug("[SCENE]: Persisting changed objects");
 
-            EntityBase[] entities = GetEntities();
-            foreach (EntityBase entity in entities)
-            {
-                if (!entity.IsDeleted && entity is SceneObjectGroup && ((SceneObjectGroup)entity).HasGroupChanged)
-                {
-                    ((SceneObjectGroup)entity).ProcessBackup(SimulationDataService, false);
-                }
-            }
-
-            m_log.Debug("[SCENE]: Graph close");
+            Backup(false);
             m_sceneGraph.Close();
 
             if (!GridService.DeregisterRegion(RegionInfo.RegionID))
@@ -1568,7 +1550,7 @@ namespace OpenSim.Region.Framework.Scenes
                     }
 
                     tmpMS = Util.EnvironmentTickCount();
-                    if ((Frame % m_update_physics == 0) && m_physics_enabled)
+                    if (PhysicsEnabled && Frame % m_update_physics == 0)
                         m_sceneGraph.UpdatePreparePhysics();
                     physicsMS2 = Util.EnvironmentTickCountSubtract(tmpMS);
     
@@ -1583,7 +1565,7 @@ namespace OpenSim.Region.Framework.Scenes
                     tmpMS = Util.EnvironmentTickCount();
                     if (Frame % m_update_physics == 0)
                     {
-                        if (m_physics_enabled)
+                        if (PhysicsEnabled)
                             physicsFPS = m_sceneGraph.UpdatePhysics(MinFrameTime);
     
                         if (SynchronizeScene != null)
@@ -1625,7 +1607,7 @@ namespace OpenSim.Region.Framework.Scenes
                         eventMS = Util.EnvironmentTickCountSubtract(tmpMS);
                     }
     
-                    if (Frame % m_update_backup == 0)
+                    if (PeriodicBackup && Frame % m_update_backup == 0)
                     {
                         tmpMS = Util.EnvironmentTickCount();
                         UpdateStorageBackup();
@@ -4709,19 +4691,6 @@ namespace OpenSim.Region.Framework.Scenes
 
         #region Script Engine
 
-        private List<ScriptEngineInterface> ScriptEngines = new List<ScriptEngineInterface>();
-        public bool DumpAssetsToFile;
-
-        /// <summary>
-        ///
-        /// </summary>
-        /// <param name="scriptEngine"></param>
-        public void AddScriptEngine(ScriptEngineInterface scriptEngine)
-        {
-            ScriptEngines.Add(scriptEngine);
-            scriptEngine.InitializeEngine(this);
-        }
-
         private bool ScriptDanger(SceneObjectPart part,Vector3 pos)
         {
             ILandObject parcel = LandChannel.GetLandObject(pos.X, pos.Y);
@@ -5628,33 +5597,7 @@ Environment.Exit(1);
 
         public void TriggerEstateSunUpdate()
         {
-            float sun;
-            if (RegionInfo.RegionSettings.UseEstateSun)
-            {
-                sun = (float)RegionInfo.EstateSettings.SunPosition;
-                if (RegionInfo.EstateSettings.UseGlobalTime)
-                {
-                    sun = EventManager.GetCurrentTimeAsSunLindenHour() - 6.0f;
-                }
-
-                // 
-                EventManager.TriggerEstateToolsSunUpdate(
-                        RegionInfo.RegionHandle,
-                        RegionInfo.EstateSettings.FixedSun,
-                        RegionInfo.RegionSettings.UseEstateSun,
-                        sun);
-            }
-            else
-            {
-                // Use the Sun Position from the Region Settings
-                sun = (float)RegionInfo.RegionSettings.SunPosition - 6.0f;
-
-                EventManager.TriggerEstateToolsSunUpdate(
-                        RegionInfo.RegionHandle,
-                        RegionInfo.RegionSettings.FixedSun,
-                        RegionInfo.RegionSettings.UseEstateSun,
-                        sun);
-            }
+            EventManager.TriggerEstateToolsSunUpdate(RegionInfo.RegionHandle);
         }
 
         private void HandleReloadEstate(string module, string[] cmd)
@@ -5922,8 +5865,13 @@ Environment.Exit(1);
 
                         if (banned)
                         {
-                            reason = "No suitable landing point found";
-                            return false;
+                            if(Permissions.IsAdministrator(agentID) == false || Permissions.IsGridGod(agentID) == false)
+                            {
+                                reason = "No suitable landing point found";
+                                return false;
+                            }
+                            reason = "Administrative access only";
+                            return true;
                         }
                     }
                 }
@@ -6050,10 +5998,17 @@ Environment.Exit(1);
             GC.Collect();
         }
 
-        // Wrappers to get physics modules retrieve assets. Has to be done this way
-        // because we can't assign the asset service to physics directly - at the
-        // time physics are instantiated it's not registered but it will be by
-        // the time the first prim exists.
+        /// <summary>
+        /// Wrappers to get physics modules retrieve assets. 
+        /// </summary>
+        /// <remarks>
+        /// Has to be done this way
+        /// because we can't assign the asset service to physics directly - at the
+        /// time physics are instantiated it's not registered but it will be by
+        /// the time the first prim exists.
+        /// </remarks>
+        /// <param name="assetID"></param>
+        /// <param name="callback"></param>
         public void PhysicsRequestAsset(UUID assetID, AssetReceivedDelegate callback)
         {
             AssetService.Get(assetID.ToString(), callback, PhysicsAssetReceived);
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index ed1bbd8..0f5d116 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -101,6 +101,15 @@ namespace OpenSim.Region.Framework.Scenes
     /// </summary>
     public partial class SceneObjectGroup : EntityBase, ISceneObject
     {
+        // Axis selection bitmask used by SetAxisRotation()
+        // Just happen to be the same bits used by llSetStatus() and defined in ScriptBaseClass.
+        public enum axisSelect : int
+        {
+            STATUS_ROTATE_X = 0x002,
+            STATUS_ROTATE_Y = 0x004,
+            STATUS_ROTATE_Z = 0x008,
+        }
+
         // private PrimCountTaintedDelegate handlerPrimCountTainted = null;
 
         /// <summary>
@@ -512,11 +521,19 @@ namespace OpenSim.Region.Framework.Scenes
 
                 if (Scene != null)
                 {
-                    //                    if ((Scene.TestBorderCross(val - Vector3.UnitX, Cardinals.E) || Scene.TestBorderCross(val + Vector3.UnitX, Cardinals.W)
-                    //                        || Scene.TestBorderCross(val - Vector3.UnitY, Cardinals.N) || Scene.TestBorderCross(val + Vector3.UnitY, Cardinals.S))
-                    //                        && !IsAttachmentCheckFull() && (!Scene.LoadingPrims))
-                    if ((Scene.TestBorderCross(val, Cardinals.E) || Scene.TestBorderCross(val, Cardinals.W)
-                        || Scene.TestBorderCross(val, Cardinals.N) || Scene.TestBorderCross(val, Cardinals.S))
+                    if (
+                        // (Scene.TestBorderCross(val - Vector3.UnitX, Cardinals.E)
+                        //     || Scene.TestBorderCross(val + Vector3.UnitX, Cardinals.W)
+                        //     || Scene.TestBorderCross(val - Vector3.UnitY, Cardinals.N)
+                        //     || Scene.TestBorderCross(val + Vector3.UnitY, Cardinals.S))
+                        // Experimental change for better border crossings.
+                        //    The commented out original lines above would, it seems, trigger
+                        //    a border crossing a little early or late depending on which
+                        //    direction the object was moving.
+                        (Scene.TestBorderCross(val, Cardinals.E)
+                            || Scene.TestBorderCross(val, Cardinals.W)
+                            || Scene.TestBorderCross(val, Cardinals.N)
+                            || Scene.TestBorderCross(val, Cardinals.S))
                         && !IsAttachmentCheckFull() && (!Scene.LoadingPrims))
                     {
                         IEntityTransferModule entityTransfer = m_scene.RequestModuleInterface<IEntityTransferModule>();
@@ -935,6 +952,18 @@ namespace OpenSim.Region.Framework.Scenes
         /// </remarks>
         public UUID FromFolderID { get; set; }
 
+        /// <summary>
+        /// IDs of all avatars sat on this scene object.
+        /// </summary>
+        /// <remarks>
+        /// We need this so that we can maintain a linkset wide ordering of avatars sat on different parts.
+        /// This must be locked before it is read or written.
+        /// SceneObjectPart sitting avatar add/remove code also locks on this object to avoid race conditions.
+        /// No avatar should appear more than once in this list.
+        /// Do not manipulate this list directly - use the Add/Remove sitting avatar methods on SceneObjectPart.
+        /// </remarks>
+        protected internal List<UUID> m_sittingAvatars = new List<UUID>();
+
         #endregion
 
 //        ~SceneObjectGroup()
@@ -4509,17 +4538,28 @@ namespace OpenSim.Region.Framework.Scenes
         }
 
         /// <summary>
+        /// Get a copy of the list of sitting avatars on all prims of this object.
+        /// </summary>
+        /// <remarks>
+        /// This is sorted by the order in which avatars sat down.  If an avatar stands up then all avatars that sat
+        /// down after it move one place down the list.
+        /// </remarks>
+        /// <returns>A list of the sitting avatars.  Returns an empty list if there are no sitting avatars.</returns>
+        public List<UUID> GetSittingAvatars()
+        {
+            lock (m_sittingAvatars)
+                return new List<UUID>(m_sittingAvatars);
+        }
+
+        /// <summary>
         /// Gets the number of sitting avatars.
         /// </summary>
         /// <remarks>This applies to all sitting avatars whether there is a sit target set or not.</remarks>
         /// <returns></returns>
         public int GetSittingAvatarsCount()
         {
-             int count = 0;
-
-             Array.ForEach<SceneObjectPart>(m_parts.GetArray(), p => count += p.GetSittingAvatarsCount());
-
-             return count;
+            lock (m_sittingAvatars)
+                return m_sittingAvatars.Count;
         }
 
         public override string ToString()
@@ -4528,7 +4568,7 @@ namespace OpenSim.Region.Framework.Scenes
         }
 
         #region ISceneObject
-        
+
         public virtual ISceneObject CloneForNewScene()
         {
             SceneObjectGroup sog = Copy(false);
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 20a6626..ce0820c 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -37,6 +37,7 @@ using System.Xml.Serialization;
 using log4net;
 using OpenMetaverse;
 using OpenMetaverse.Packets;
+using OpenMetaverse.StructuredData;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes.Scripting;
@@ -116,7 +117,7 @@ namespace OpenSim.Region.Framework.Scenes
 
     #endregion Enumerations
 
-    public class SceneObjectPart : IScriptHost, ISceneEntity
+    public class SceneObjectPart : ISceneEntity
     {
         /// <value>
         /// Denote all sides of the prim
@@ -136,6 +137,11 @@ namespace OpenSim.Region.Framework.Scenes
 
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
+        /// <summary>
+        /// Dynamic attributes can be created and deleted as required.
+        /// </summary>
+        public DAMap DynAttrs { get; set; }
+        
         /// <value>
         /// Is this a root part?
         /// </value>
@@ -386,6 +392,7 @@ namespace OpenSim.Region.Framework.Scenes
             m_particleSystem = Utils.EmptyBytes;
             Rezzed = DateTime.UtcNow;
             Description = String.Empty;
+            DynAttrs = new DAMap();
 
             // Prims currently only contain a single folder (Contents).  From looking at the Second Life protocol,
             // this appears to have the same UUID (!) as the prim.  If this isn't the case, one can't drag items from
@@ -1342,7 +1349,7 @@ namespace OpenSim.Region.Framework.Scenes
         public UUID SitTargetAvatar { get; set; }
 
         /// <summary>
-        /// IDs of all avatars start on this object part.
+        /// IDs of all avatars sat on this part.
         /// </summary>
         /// <remarks>
         /// We need to track this so that we can stop sat upon prims from being attached.
@@ -2133,6 +2140,8 @@ namespace OpenSim.Region.Framework.Scenes
             // safeguard  actual copy is done in sog.copy
             dupe.KeyframeMotion = null;
 
+            dupe.DynAttrs.CopyFrom(DynAttrs);
+            
             if (userExposed)
             {
 /*
@@ -2446,11 +2455,11 @@ namespace OpenSim.Region.Framework.Scenes
         public int GetAxisRotation(int axis)
         {
             //Cannot use ScriptBaseClass constants as no referance to it currently.
-            if (axis == 2)//STATUS_ROTATE_X
+            if (axis == (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_X)
                 return STATUS_ROTATE_X;
-            if (axis == 4)//STATUS_ROTATE_Y
+            if (axis == (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Y)
                 return STATUS_ROTATE_Y;
-            if (axis == 8)//STATUS_ROTATE_Z
+            if (axis == (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Z)
                 return STATUS_ROTATE_Z;
 
             return 0;
@@ -2485,18 +2494,6 @@ namespace OpenSim.Region.Framework.Scenes
                 return new Vector3(0, 0, 0);
 
             return ParentGroup.GetGeometricCenter();
-
-            /*
-                        PhysicsActor pa = PhysActor;
-
-                        if (pa != null)
-                        {
-                            Vector3 vtmp = pa.CenterOfMass;
-                            return vtmp;
-                        }
-                        else
-                            return new Vector3(0, 0, 0);
-             */
         }
 
         public float GetMass()
@@ -2910,11 +2907,14 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void PhysicsOutOfBounds(Vector3 pos)
         {
-            m_log.Error("[PHYSICS]: Physical Object went out of bounds.");
+            // Note: This is only being called on the root prim at this time.
+
+            m_log.ErrorFormat(
+                "[SCENE OBJECT PART]: Physical object {0}, localID {1} went out of bounds at {2} in {3}.  Stopping at {4} and making non-physical.", 
+                Name, LocalId, pos, ParentGroup.Scene.Name, AbsolutePosition);
             
             RemFlag(PrimFlags.Physics);
             DoPhysicsPropertyUpdate(false, true);
-            //ParentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
         }
 
         public void PhysicsRequestingTerseUpdate()
@@ -3337,13 +3337,13 @@ namespace OpenSim.Region.Framework.Scenes
             ParentGroup.SetAxisRotation(axis, rotate);
 
             //Cannot use ScriptBaseClass constants as no referance to it currently.
-            if (axis == 2)//STATUS_ROTATE_X
+            if ((axis & (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_X) != 0)
                 STATUS_ROTATE_X = rotate;
 
-            if (axis == 4)//STATUS_ROTATE_Y
+            if ((axis & (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Y) != 0)
                 STATUS_ROTATE_Y = rotate;
 
-            if (axis == 8)//STATUS_ROTATE_Z
+            if ((axis & (int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Z) != 0)
                 STATUS_ROTATE_Z = rotate;
         }
 
@@ -4250,6 +4250,7 @@ namespace OpenSim.Region.Framework.Scenes
                         result.distance = distance2;
                         result.HitTF = true;
                         result.ipoint = q;
+                        result.face = i;
                         //m_log.Info("[FACE]:" + i.ToString());
                         //m_log.Info("[POINT]: " + q.ToString());
                         //m_log.Info("[DIST]: " + distance2.ToString());
@@ -4573,7 +4574,7 @@ namespace OpenSim.Region.Framework.Scenes
                 if (ParentGroup.RootPart == this)
                     AngularVelocity = new Vector3(0, 0, 0);
             }
-            else
+            else if (SetVD != wasVD)
             {
                 if (ParentGroup.Scene.CollidablePrims)
                 {
@@ -4661,9 +4662,9 @@ namespace OpenSim.Region.Framework.Scenes
                                  PhysicsShapeType,
                                  m_localId);
             }
-            catch (Exception ex)
+            catch (Exception e)
             {
-                m_log.ErrorFormat("[SCENE]: AddToPhysics object {0} failed: {1}", m_uuid, ex.Message);
+                m_log.ErrorFormat("[SCENE]: caught exception meshing object {0}. Object set to phantom. e={1}", m_uuid, e);
                 pa = null;
             }
           
@@ -5222,18 +5223,22 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name='avatarId'></param>
         protected internal bool AddSittingAvatar(UUID avatarId)
         {
-            if (IsSitTargetSet && SitTargetAvatar == UUID.Zero)
-                SitTargetAvatar = avatarId;
+            lock (ParentGroup.m_sittingAvatars)
+            {
+                if (IsSitTargetSet && SitTargetAvatar == UUID.Zero)
+                    SitTargetAvatar = avatarId;
 
-            HashSet<UUID> sittingAvatars = m_sittingAvatars;
+                if (m_sittingAvatars == null)
+                    m_sittingAvatars = new HashSet<UUID>();
 
-            if (sittingAvatars == null)
-                sittingAvatars = new HashSet<UUID>();
+                if (m_sittingAvatars.Add(avatarId))
+                {
+                    ParentGroup.m_sittingAvatars.Add(avatarId);
 
-            lock (sittingAvatars)
-            {
-                m_sittingAvatars = sittingAvatars;
-                return m_sittingAvatars.Add(avatarId);
+                    return true;
+                }
+
+                return false;
             }
         }
 
@@ -5247,27 +5252,26 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name='avatarId'></param>
         protected internal bool RemoveSittingAvatar(UUID avatarId)
         {
-            if (SitTargetAvatar == avatarId)
-                SitTargetAvatar = UUID.Zero;
-
-            HashSet<UUID> sittingAvatars = m_sittingAvatars;
+            lock (ParentGroup.m_sittingAvatars)
+            {
+                if (SitTargetAvatar == avatarId)
+                    SitTargetAvatar = UUID.Zero;
 
-            // This can occur under a race condition where another thread
-            if (sittingAvatars == null)
-                return false;
+                if (m_sittingAvatars == null)
+                    return false;
 
-            lock (sittingAvatars)
-            {
-                if (sittingAvatars.Remove(avatarId))
+                if (m_sittingAvatars.Remove(avatarId))
                 {
-                    if (sittingAvatars.Count == 0)
+                    if (m_sittingAvatars.Count == 0)
                         m_sittingAvatars = null;
 
+                    ParentGroup.m_sittingAvatars.Remove(avatarId);
+
                     return true;
                 }
-            }
 
-            return false;
+                return false;
+            }
         }
 
         /// <summary>
@@ -5277,16 +5281,12 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns>A hashset of the sitting avatars.  Returns null if there are no sitting avatars.</returns>
         public HashSet<UUID> GetSittingAvatars()
         {
-            HashSet<UUID> sittingAvatars = m_sittingAvatars;
-
-            if (sittingAvatars == null)
+            lock (ParentGroup.m_sittingAvatars)
             {
-                return null;
-            }
-            else
-            {
-                lock (sittingAvatars)
-                    return new HashSet<UUID>(sittingAvatars);
+                if (m_sittingAvatars == null)
+                    return null;
+                else
+                    return new HashSet<UUID>(m_sittingAvatars);
             }
         }
 
@@ -5297,13 +5297,13 @@ namespace OpenSim.Region.Framework.Scenes
         /// <returns></returns>
         public int GetSittingAvatarsCount()
         {
-            HashSet<UUID> sittingAvatars = m_sittingAvatars;
-
-            if (sittingAvatars == null)
-                return 0;
-
-            lock (sittingAvatars)
-                return sittingAvatars.Count;
+            lock (ParentGroup.m_sittingAvatars)
+            {
+                if (m_sittingAvatars == null)
+                    return 0;
+                else
+                    return m_sittingAvatars.Count;
+            }
         }
     }
 }
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 91f9c0b..a57e0d1 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -221,8 +221,6 @@ namespace OpenSim.Region.Framework.Scenes
 
         private Quaternion m_headrotation = Quaternion.Identity;
 
-        private string m_nextSitAnimation = String.Empty;
-
         //PauPaw:Proper PID Controler for autopilot************
         public bool MovingToTarget { get; private set; }
         public Vector3 MoveToPositionTarget { get; private set; }
@@ -598,18 +596,18 @@ namespace OpenSim.Region.Framework.Scenes
             set
             {
                 m_bodyRot = value;
-                //                m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, m_bodyRot);
                 if (PhysicsActor != null)
                 {
                     try
                     {
-                        PhysicsActor.Orientation = value;
+                        PhysicsActor.Orientation = m_bodyRot;
                     }
                     catch (Exception e)
                     {
                         m_log.Error("[SCENE PRESENCE]: Orientation " + e.Message);
                     }
                 }
+//                m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, m_bodyRot);
             }
         }
 
@@ -2322,28 +2320,16 @@ namespace OpenSim.Region.Framework.Scenes
 
             if (ParentID != 0)
             {
+                if (ParentPart.UUID == targetID)
+                    return; // already sitting here, ignore
+
                 StandUp();
             }
 
-//            if (!String.IsNullOrEmpty(sitAnimation))
-//            {
-//                m_nextSitAnimation = sitAnimation;
-//            }
-//            else
-//            {
-            m_nextSitAnimation = "SIT";
-//            }
-
-            //SceneObjectPart part = m_scene.GetSceneObjectPart(targetID);
             SceneObjectPart part = FindNextAvailableSitTarget(targetID);
 
             if (part != null)
             {
-                if (!String.IsNullOrEmpty(part.SitAnimation))
-                {
-                    m_nextSitAnimation = part.SitAnimation;
-                }
-
                 m_requestedSitTargetID = part.LocalId;
                 m_requestedSitTargetUUID = targetID;
 
@@ -2464,18 +2450,6 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void HandleAgentSit(IClientAPI remoteClient, UUID agentID)
         {
-            if (!String.IsNullOrEmpty(m_nextSitAnimation))
-            {
-                HandleAgentSit(remoteClient, agentID, m_nextSitAnimation);
-            }
-            else
-            {
-                HandleAgentSit(remoteClient, agentID, "SIT");
-            }
-        }
-
-        public void HandleAgentSit(IClientAPI remoteClient, UUID agentID, string sitAnimation)
-        {
             SceneObjectPart part = m_scene.GetSceneObjectPart(m_requestedSitTargetID);
 
             if (part != null)
@@ -2545,10 +2519,15 @@ namespace OpenSim.Region.Framework.Scenes
 
                 ParentPart = m_scene.GetSceneObjectPart(m_requestedSitTargetID);
                 ParentID = m_requestedSitTargetID;
-
+                m_AngularVelocity = Vector3.Zero;
                 Velocity = Vector3.Zero;
                 RemoveFromPhysicalScene();
-        
+
+                String sitAnimation = "SIT";
+                if (!String.IsNullOrEmpty(part.SitAnimation))
+                {
+                    sitAnimation = part.SitAnimation;
+                }
                 Animator.TrySetMovementAnimation(sitAnimation);
                 SendAvatarDataToAllAgents();
             }
@@ -2556,7 +2535,8 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void HandleAgentSitOnGround()
         {
-//            m_updateCount = 0;  // Kill animation update burst so that the SIT_G.. will stick.
+//            m_updateCount = 0;  // Kill animation update burst so that the SIT_G.. will stick..
+            m_AngularVelocity = Vector3.Zero;
             Animator.TrySetMovementAnimation("SIT_GROUND_CONSTRAINED");
             SitGround = true;
             RemoveFromPhysicalScene();
@@ -2578,7 +2558,7 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void HandleStopAnim(IClientAPI remoteClient, UUID animID)
         {
-            Animator.RemoveAnimation(animID);
+            Animator.RemoveAnimation(animID, false);
         }
 
         public void avnHandleChangeAnim(UUID animID, bool addRemove,bool sendPack)
@@ -4289,6 +4269,7 @@ namespace OpenSim.Region.Framework.Scenes
                 (m_teleportFlags & TeleportFlags.ViaLocation) != 0 ||
                 (m_teleportFlags & Constants.TeleportFlags.ViaHGLogin) != 0)
             {
+
                 if (GodLevel < 200 &&
                     ((!m_scene.Permissions.IsGod(m_uuid) &&
                     !m_scene.RegionInfo.EstateSettings.IsEstateManagerOrOwner(m_uuid)) || 
@@ -4297,7 +4278,14 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     SpawnPoint[] spawnPoints = m_scene.RegionInfo.RegionSettings.SpawnPoints().ToArray();
                     if (spawnPoints.Length == 0)
+                    {
+                        if(m_scene.RegionInfo.EstateSettings.IsEstateManagerOrOwner(m_uuid))
+                        {
+                            pos.X = 128.0f;
+                            pos.Y = 128.0f;
+                        }
                         return;
+                    }
 
                     int index;
                     bool selected = false;
@@ -4306,6 +4294,8 @@ namespace OpenSim.Region.Framework.Scenes
                     {
                         case "random":
 
+                            if (spawnPoints.Length == 0)
+                                return;
                             do
                             {
                                 index = Util.RandomClass.Next(spawnPoints.Length - 1);
@@ -4317,6 +4307,7 @@ namespace OpenSim.Region.Framework.Scenes
                                 // SpawnPoint sp = spawnPoints[index];
 
                                 ILandObject land = m_scene.LandChannel.GetLandObject(spawnPosition.X, spawnPosition.Y);
+
                                 if (land == null || land.IsEitherBannedOrRestricted(UUID))
                                     selected = false;
                                 else
diff --git a/OpenSim/Region/Framework/Scenes/Scripting/ScriptEngineLoader.cs b/OpenSim/Region/Framework/Scenes/Scripting/ScriptEngineLoader.cs
deleted file mode 100644
index c58ccc5..0000000
--- a/OpenSim/Region/Framework/Scenes/Scripting/ScriptEngineLoader.cs
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * 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.
- */
-
-/* Original code: Tedd Hansen */
-using System;
-using System.IO;
-using System.Reflection;
-using log4net;
-
-namespace OpenSim.Region.Framework.Scenes.Scripting
-{
-    public class ScriptEngineLoader
-    {
-        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-
-        public ScriptEngineInterface LoadScriptEngine(string EngineName)
-        {
-            ScriptEngineInterface ret = null;
-            try
-            {
-                ret =
-                    LoadAndInitAssembly(
-                        Path.Combine("ScriptEngines", "OpenSim.Region.ScriptEngine." + EngineName + ".dll"),
-                        "OpenSim.Region.ScriptEngine." + EngineName + ".ScriptEngine");
-            }
-            catch (Exception e)
-            {
-                m_log.Error("[ScriptEngine]: " +
-                            "Error loading assembly \"" + EngineName + "\": " + e.Message + ", " +
-                            e.StackTrace.ToString());
-            }
-            return ret;
-        }
-
-        /// <summary>
-        /// Does actual loading and initialization of script Assembly
-        /// </summary>
-        /// <param name="FreeAppDomain">AppDomain to load script into</param>
-        /// <param name="FileName">FileName of script assembly (.dll)</param>
-        /// <returns></returns>
-        private ScriptEngineInterface LoadAndInitAssembly(string FileName, string NameSpace)
-        {
-            //Common.SendToDebug("Loading ScriptEngine Assembly " + FileName);
-            // Load .Net Assembly (.dll)
-            // Initialize and return it
-
-            // TODO: Add error handling
-
-            Assembly a;
-            //try
-            //{
-
-
-            // Load to default appdomain (temporary)
-            a = Assembly.LoadFrom(FileName);
-            // Load to specified appdomain
-            // TODO: Insert security
-            //a = FreeAppDomain.Load(FileName);
-            //}
-            //catch (Exception e)
-            //{
-            //    m_log.Error("[ScriptEngine]: Error loading assembly \String.Empty + FileName + "\": " + e.ToString());
-            //}
-
-
-            //m_log.Debug("Loading: " + FileName);
-            //foreach (Type _t in a.GetTypes())
-            //{
-            //    m_log.Debug("Type: " + _t.ToString());
-            //}
-
-            Type t;
-            //try
-            //{
-            t = a.GetType(NameSpace, true);
-            //}
-            //catch (Exception e)
-            //{
-            //    m_log.Error("[ScriptEngine]: Error initializing type \String.Empty + NameSpace + "\" from \String.Empty + FileName + "\": " + e.ToString());
-            //}
-
-            ScriptEngineInterface ret;
-            //try
-            //{
-            ret = (ScriptEngineInterface) Activator.CreateInstance(t);
-            //}
-            //catch (Exception e)
-            //{
-            //    m_log.Error("[ScriptEngine]: Error initializing type \String.Empty + NameSpace + "\" from \String.Empty + FileName + "\": " + e.ToString());
-            //}
-
-            return ret;
-        }
-    }
-}
diff --git a/OpenSim/Region/Framework/Scenes/Scripting/ScriptUtils.cs b/OpenSim/Region/Framework/Scenes/Scripting/ScriptUtils.cs
new file mode 100644
index 0000000..f08ba59
--- /dev/null
+++ b/OpenSim/Region/Framework/Scenes/Scripting/ScriptUtils.cs
@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using OpenMetaverse;
+using OpenSim.Framework;
+
+namespace OpenSim.Region.Framework.Scenes.Scripting
+{
+    /// <summary>
+    /// Utility functions for use by scripts manipulating the scene.
+    /// </summary>
+    public static class ScriptUtils
+    {
+        /// <summary>
+        /// Get an asset id given an item name and an item type.
+        /// </summary>
+        /// <returns>UUID.Zero if the name and type did not match any item.</returns>
+        /// <param name='part'></param>
+        /// <param name='name'></param>
+        /// <param name='type'></param>
+        public static UUID GetAssetIdFromItemName(SceneObjectPart part, string name, int type)
+        {
+            TaskInventoryItem item = part.Inventory.GetInventoryItem(name);
+
+            if (item != null && item.Type == type)
+                return item.AssetID;
+            else
+                return UUID.Zero;
+        }
+
+        /// <summary>
+        /// accepts a valid UUID, -or- a name of an inventory item.
+        /// Returns a valid UUID or UUID.Zero if key invalid and item not found
+        /// in prim inventory.
+        /// </summary>
+        /// <param name="part">Scene object part to search for inventory item</param>
+        /// <param name="key"></param>
+        /// <returns></returns>
+        public static UUID GetAssetIdFromKeyOrItemName(SceneObjectPart part, string identifier)
+        {
+            UUID key;
+
+            // if we can parse the string as a key, use it.
+            // else try to locate the name in inventory of object. found returns key,
+            // not found returns UUID.Zero
+            if (!UUID.TryParse(identifier, out key))
+            {
+                TaskInventoryItem item = part.Inventory.GetInventoryItem(identifier);
+
+                if (item != null)
+                    key = item.AssetID;
+                else
+                    key = UUID.Zero;
+            }
+
+            return key;
+        }
+
+        /// <summary>
+        /// Return the UUID of the asset matching the specified key or name
+        /// and asset type.
+        /// </summary>
+        /// <param name="part">Scene object part to search for inventory item</param>
+        /// <param name="identifier"></param>
+        /// <param name="type"></param>
+        /// <returns></returns>
+        public static UUID GetAssetIdFromKeyOrItemName(SceneObjectPart part, string identifier, AssetType type)
+        {
+            UUID key;
+
+            if (!UUID.TryParse(identifier, out key))
+            {
+                TaskInventoryItem item = part.Inventory.GetInventoryItem(identifier);
+                if (item != null && item.Type == (int)type)
+                    key = item.AssetID;
+            }
+
+            return key;
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Framework/Scenes/Serialization/CoalescedSceneObjectsSerializer.cs b/OpenSim/Region/Framework/Scenes/Serialization/CoalescedSceneObjectsSerializer.cs
index a4f730d..5cb271d 100644
--- a/OpenSim/Region/Framework/Scenes/Serialization/CoalescedSceneObjectsSerializer.cs
+++ b/OpenSim/Region/Framework/Scenes/Serialization/CoalescedSceneObjectsSerializer.cs
@@ -42,9 +42,6 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
     /// <summary>
     /// Serialize and deserialize coalesced scene objects.
     /// </summary>
-    /// <remarks>
-    /// Deserialization not yet here.
-    /// </remarks>
     public class CoalescedSceneObjectsSerializer
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
@@ -128,6 +125,7 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
 //            m_log.DebugFormat("[COALESCED SCENE OBJECTS SERIALIZER]: TryFromXml() deserializing {0}", xml);
             
             coa = null;
+            int i = 0;
             
             using (StringReader sr = new StringReader(xml))
             {                
@@ -153,7 +151,23 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
                             if (reader.Name == "SceneObjectGroup")
                             {
                                 string soXml = reader.ReadOuterXml();
-                                coa.Add(SceneObjectSerializer.FromOriginalXmlFormat(soXml));
+
+                                SceneObjectGroup so = SceneObjectSerializer.FromOriginalXmlFormat(soXml);
+
+                                if (so != null)
+                                {
+                                    coa.Add(so);
+                                }
+                                else
+                                {
+                                    // XXX: Possibly we should fail outright here rather than continuing if a particular component of the 
+                                    // coalesced object fails to load.
+                                    m_log.WarnFormat(
+                                        "[COALESCED SCENE OBJECTS SERIALIZER]: Deserialization of xml for component {0} failed.  Continuing.", 
+                                        i);
+                                }
+
+                                i++;
                             }
                         }
                         
diff --git a/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs b/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs
index 2984782..ce4fb40 100644
--- a/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs
+++ b/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs
@@ -365,6 +365,7 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
             m_SOPXmlProcessors.Add("CollisionSound", ProcessCollisionSound);
             m_SOPXmlProcessors.Add("CollisionSoundVolume", ProcessCollisionSoundVolume);
             m_SOPXmlProcessors.Add("MediaUrl", ProcessMediaUrl);
+            m_SOPXmlProcessors.Add("DynAttrs", ProcessDynAttrs);
             m_SOPXmlProcessors.Add("TextureAnimation", ProcessTextureAnimation);
             m_SOPXmlProcessors.Add("ParticleSystem", ProcessParticleSystem);
             m_SOPXmlProcessors.Add("PayPrice0", ProcessPayPrice0);
@@ -797,6 +798,11 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
             obj.MediaUrl = reader.ReadElementContentAsString("MediaUrl", String.Empty);
         }
 
+        private static void ProcessDynAttrs(SceneObjectPart obj, XmlTextReader reader)
+        {
+            obj.DynAttrs.ReadXml(reader);
+        }
+
         private static void ProcessTextureAnimation(SceneObjectPart obj, XmlTextReader reader)
         {
             obj.TextureAnimation = Convert.FromBase64String(reader.ReadElementContentAsString("TextureAnimation", String.Empty));
@@ -1339,6 +1345,14 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
             writer.WriteElementString("CollisionSoundVolume", sop.CollisionSoundVolume.ToString());
             if (sop.MediaUrl != null)
                 writer.WriteElementString("MediaUrl", sop.MediaUrl.ToString());
+            
+            if (sop.DynAttrs.Count > 0)
+            {
+                writer.WriteStartElement("DynAttrs");
+                sop.DynAttrs.WriteXml(writer);
+                writer.WriteEndElement();
+            }
+
             WriteBytes(writer, "TextureAnimation", sop.TextureAnimation);
             WriteBytes(writer, "ParticleSystem", sop.ParticleSystem);
             writer.WriteElementString("PayPrice0", sop.PayPrice[0].ToString());
diff --git a/OpenSim/Region/Framework/Scenes/Tests/BorderTests.cs b/OpenSim/Region/Framework/Scenes/Tests/BorderTests.cs
index 4a21dc9..e209221 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/BorderTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/BorderTests.cs
@@ -37,7 +37,7 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class BorderTests
+    public class BorderTests : OpenSimTestCase
     {
         [Test]
         public void TestCross()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/EntityManagerTests.cs b/OpenSim/Region/Framework/Scenes/Tests/EntityManagerTests.cs
index ea9fc93..766ce83 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/EntityManagerTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/EntityManagerTests.cs
@@ -41,7 +41,7 @@ using OpenSim.Tests.Common;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture, LongRunning]
-    public class EntityManagerTests
+    public class EntityManagerTests : OpenSimTestCase
     {
         static public Random random;
         SceneObjectGroup found;
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneGraphTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneGraphTests.cs
index d23c965..575a081 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneGraphTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneGraphTests.cs
@@ -40,7 +40,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class SceneGraphTests
+    public class SceneGraphTests : OpenSimTestCase
     {
         [Test]
         public void TestDuplicateObject()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneManagerTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneManagerTests.cs
index ab56f4e..2d831fa 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneManagerTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneManagerTests.cs
@@ -41,7 +41,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class SceneManagerTests
+    public class SceneManagerTests : OpenSimTestCase
     {
         [Test]
         public void TestClose()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectBasicTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectBasicTests.cs
index 5b334c6..a07d64c 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectBasicTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectBasicTests.cs
@@ -29,6 +29,7 @@ using System;
 using System.Collections.Generic;
 using System.Reflection;
 using System.Threading;
+using Nini.Config;
 using NUnit.Framework;
 using OpenMetaverse;
 using OpenSim.Framework;
@@ -182,6 +183,10 @@ namespace OpenSim.Region.Framework.Scenes.Tests
         /// <summary>
         /// Test deleting an object from a scene.
         /// </summary>
+        /// <remarks>
+        /// This is the most basic form of delete.  For all more sophisticated forms of derez (done asynchrnously
+        /// and where object can be taken to user inventory, etc.), see SceneObjectDeRezTests.
+        /// </remarks>
         [Test]
         public void TestDeleteSceneObject()
         {
@@ -201,100 +206,6 @@ namespace OpenSim.Region.Framework.Scenes.Tests
         }
         
         /// <summary>
-        /// Test deleting an object asynchronously
-        /// </summary>
-        [Test]
-        public void TestDeleteSceneObjectAsync()
-        {
-            TestHelpers.InMethod();
-            //log4net.Config.XmlConfigurator.Configure();
-
-            UUID agentId = UUID.Parse("00000000-0000-0000-0000-000000000001");
-
-            TestScene scene = new SceneHelpers().SetupScene();
-
-            // Turn off the timer on the async sog deleter - we'll crank it by hand for this test.
-            AsyncSceneObjectGroupDeleter sogd = scene.SceneObjectGroupDeleter;
-            sogd.Enabled = false;
-
-            SceneObjectGroup so = SceneHelpers.AddSceneObject(scene);
-
-            IClientAPI client = SceneHelpers.AddScenePresence(scene, agentId).ControllingClient;
-            scene.DeRezObjects(client, new System.Collections.Generic.List<uint>() { so.LocalId }, UUID.Zero, DeRezAction.Delete, UUID.Zero);
-
-            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(so.LocalId);
-
-            Assert.That(retrievedPart, Is.Not.Null);
-
-            Assert.That(so.IsDeleted, Is.False);
-
-            sogd.InventoryDeQueueAndDelete();
-
-            Assert.That(so.IsDeleted, Is.True);
-
-            SceneObjectPart retrievedPart2 = scene.GetSceneObjectPart(so.LocalId);
-            Assert.That(retrievedPart2, Is.Null);
-        }
- 
-        /// <summary>
-        /// Test deleting an object asynchronously to user inventory.
-        /// </summary>
-//        [Test]
-        public void TestDeleteSceneObjectAsyncToUserInventory()
-        {
-            TestHelpers.InMethod();
-            TestHelpers.EnableLogging();
-
-            UUID agentId = UUID.Parse("00000000-0000-0000-0000-000000000001");
-            string myObjectName = "Fred";
-
-            TestScene scene = new SceneHelpers().SetupScene();
-
-            // Turn off the timer on the async sog deleter - we'll crank it by hand for this test.
-            AsyncSceneObjectGroupDeleter sogd = scene.SceneObjectGroupDeleter;
-            sogd.Enabled = false;
-
-            SceneObjectGroup so = SceneHelpers.AddSceneObject(scene, myObjectName, agentId);
-
-//            Assert.That(
-//                scene.CommsManager.UserAdminService.AddUser(
-//                    "Bob", "Hoskins", "test", "test@test.com", 1000, 1000, agentId),
-//                Is.EqualTo(agentId));
-
-            UserAccount ua = UserAccountHelpers.CreateUserWithInventory(scene, agentId);
-            InventoryFolderBase folder1
-                = UserInventoryHelpers.CreateInventoryFolder(scene.InventoryService, ua.PrincipalID, "folder1");
-
-            IClientAPI client = SceneHelpers.AddScenePresence(scene, agentId).ControllingClient;
-            scene.DeRezObjects(client, new List<uint>() { so.LocalId }, UUID.Zero, DeRezAction.Take, folder1.ID);
-
-            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(so.LocalId);
-
-            Assert.That(retrievedPart, Is.Not.Null);
-            Assert.That(so.IsDeleted, Is.False);
-
-            sogd.InventoryDeQueueAndDelete();
-
-            Assert.That(so.IsDeleted, Is.True);
-
-            SceneObjectPart retrievedPart2 = scene.GetSceneObjectPart(so.LocalId);
-            Assert.That(retrievedPart2, Is.Null);
-
-//            SceneSetupHelpers.DeleteSceneObjectAsync(scene, part, DeRezAction.Take, userInfo.RootFolder.ID, client);
-
-            InventoryItemBase retrievedItem
-                = UserInventoryHelpers.GetInventoryItem(
-                    scene.InventoryService, ua.PrincipalID, "folder1/" + myObjectName);
-
-            // Check that we now have the taken part in our inventory
-            Assert.That(retrievedItem, Is.Not.Null);
-
-            // Check that the taken part has actually disappeared
-//            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(part.LocalId);
-//            Assert.That(retrievedPart, Is.Null);
-        }
-        
-        /// <summary>
         /// Changing a scene object uuid changes the root part uuid.  This is a valid operation if the object is not
         /// in a scene and is useful if one wants to supply a UUID directly rather than use the one generated by 
         /// OpenSim.
@@ -329,4 +240,4 @@ namespace OpenSim.Region.Framework.Scenes.Tests
             Assert.That(sog.Parts.Length, Is.EqualTo(2));
         }
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectDeRezTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectDeRezTests.cs
index 0076f41..c1522e7 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectDeRezTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectDeRezTests.cs
@@ -33,22 +33,24 @@ using NUnit.Framework;
 using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Framework.Communications;
+using OpenSim.Region.CoreModules.Framework.InventoryAccess;
 using OpenSim.Region.CoreModules.World.Permissions;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
 using OpenSim.Tests.Common.Mock;
 
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     /// <summary>
-    /// Tests derez of scene objects by users.
+    /// Tests derez of scene objects.
     /// </summary>
     /// <remarks>
     /// This is at a level above the SceneObjectBasicTests, which act on the scene directly.
-    /// TODO: These tests are very incomplete - they only test for a few conditions.
+    /// TODO: These tests are incomplete - need to test more kinds of derez (e.g. return object).
     /// </remarks>
     [TestFixture]
-    public class SceneObjectDeRezTests
+    public class SceneObjectDeRezTests : OpenSimTestCase
     {
         /// <summary>
         /// Test deleting an object from a scene.
@@ -76,14 +78,20 @@ namespace OpenSim.Region.Framework.Scenes.Tests
                 = new SceneObjectPart(userId, PrimitiveBaseShape.Default, Vector3.Zero, Quaternion.Identity, Vector3.Zero);
             part.Name = "obj1";
             scene.AddNewSceneObject(new SceneObjectGroup(part), false);
+
             List<uint> localIds = new List<uint>();
             localIds.Add(part.LocalId);
-
             scene.DeRezObjects(client, localIds, UUID.Zero, DeRezAction.Delete, UUID.Zero);
+
+            // Check that object isn't deleted until we crank the sogd handle.
+            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(part.LocalId);
+            Assert.That(retrievedPart, Is.Not.Null);
+            Assert.That(retrievedPart.ParentGroup.IsDeleted, Is.False);
+
             sogd.InventoryDeQueueAndDelete();
             
-            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(part.LocalId);
-            Assert.That(retrievedPart, Is.Null);
+            SceneObjectPart retrievedPart2 = scene.GetSceneObjectPart(part.LocalId);
+            Assert.That(retrievedPart2, Is.Null);
         }
         
         /// <summary>
@@ -124,6 +132,67 @@ namespace OpenSim.Region.Framework.Scenes.Tests
             // Object should still be in the scene.
             SceneObjectPart retrievedPart = scene.GetSceneObjectPart(part.LocalId);
             Assert.That(retrievedPart.UUID, Is.EqualTo(part.UUID));
-        }        
+        }   
+ 
+        /// <summary>
+        /// Test deleting an object asynchronously to user inventory.
+        /// </summary>
+        [Test]
+        public void TestDeleteSceneObjectAsyncToUserInventory()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            UUID agentId = UUID.Parse("00000000-0000-0000-0000-000000000001");
+            string myObjectName = "Fred";
+
+            TestScene scene = new SceneHelpers().SetupScene();
+
+            IConfigSource configSource = new IniConfigSource();
+            IConfig config = configSource.AddConfig("Modules");            
+            config.Set("InventoryAccessModule", "BasicInventoryAccessModule");
+            SceneHelpers.SetupSceneModules(
+                scene, configSource, new object[] { new BasicInventoryAccessModule() });
+
+            SceneHelpers.SetupSceneModules(scene, new object[] { });
+
+            // Turn off the timer on the async sog deleter - we'll crank it by hand for this test.
+            AsyncSceneObjectGroupDeleter sogd = scene.SceneObjectGroupDeleter;
+            sogd.Enabled = false;
+
+            SceneObjectGroup so = SceneHelpers.AddSceneObject(scene, myObjectName, agentId);
+
+            UserAccount ua = UserAccountHelpers.CreateUserWithInventory(scene, agentId);
+            InventoryFolderBase folder1
+                = UserInventoryHelpers.CreateInventoryFolder(scene.InventoryService, ua.PrincipalID, "folder1");
+
+            IClientAPI client = SceneHelpers.AddScenePresence(scene, agentId).ControllingClient;
+            scene.DeRezObjects(client, new List<uint>() { so.LocalId }, UUID.Zero, DeRezAction.Take, folder1.ID);
+
+            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(so.LocalId);
+
+            Assert.That(retrievedPart, Is.Not.Null);
+            Assert.That(so.IsDeleted, Is.False);
+
+            sogd.InventoryDeQueueAndDelete();
+
+            Assert.That(so.IsDeleted, Is.True);
+
+            SceneObjectPart retrievedPart2 = scene.GetSceneObjectPart(so.LocalId);
+            Assert.That(retrievedPart2, Is.Null);
+
+//            SceneSetupHelpers.DeleteSceneObjectAsync(scene, part, DeRezAction.Take, userInfo.RootFolder.ID, client);
+
+            InventoryItemBase retrievedItem
+                = UserInventoryHelpers.GetInventoryItem(
+                    scene.InventoryService, ua.PrincipalID, "folder1/" + myObjectName);
+
+            // Check that we now have the taken part in our inventory
+            Assert.That(retrievedItem, Is.Not.Null);
+
+            // Check that the taken part has actually disappeared
+//            SceneObjectPart retrievedPart = scene.GetSceneObjectPart(part.LocalId);
+//            Assert.That(retrievedPart, Is.Null);
+        }
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs
index 0e525c9..9378e20 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs
@@ -40,7 +40,7 @@ using log4net;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class SceneObjectLinkingTests
+    public class SceneObjectLinkingTests : OpenSimTestCase
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectResizeTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectResizeTests.cs
index e931859..1182c96 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectResizeTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectResizeTests.cs
@@ -41,7 +41,7 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Basic scene object resize tests
     /// </summary>
     [TestFixture]
-    public class SceneObjectResizeTests
+    public class SceneObjectResizeTests : OpenSimTestCase
     {
         /// <summary>
         /// Test resizing an object
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectScriptTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectScriptTests.cs
index d2361f8..a58e735 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectScriptTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectScriptTests.cs
@@ -40,7 +40,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class SceneObjectScriptTests
+    public class SceneObjectScriptTests : OpenSimTestCase
     {
         [Test]
         public void TestAddScript()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectSpatialTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectSpatialTests.cs
index 6d255aa..abaa1d1 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectSpatialTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectSpatialTests.cs
@@ -42,14 +42,16 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Spatial scene object tests (will eventually cover root and child part position, rotation properties, etc.)
     /// </summary>
     [TestFixture]
-    public class SceneObjectSpatialTests
+    public class SceneObjectSpatialTests : OpenSimTestCase
     {
         TestScene m_scene;
         UUID m_ownerId = TestHelpers.ParseTail(0x1);
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             m_scene = new SceneHelpers().SetupScene();
         }
 
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectStatusTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectStatusTests.cs
index 742c769..8eb3191 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectStatusTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectStatusTests.cs
@@ -42,7 +42,7 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Basic scene object status tests
     /// </summary>
     [TestFixture]
-    public class SceneObjectStatusTests
+    public class SceneObjectStatusTests : OpenSimTestCase
     {
         private TestScene m_scene;
         private UUID m_ownerId = TestHelpers.ParseTail(0x1);
@@ -78,6 +78,26 @@ namespace OpenSim.Region.Framework.Scenes.Tests
         }
 
         [Test]
+        public void TestSetNonPhysicsVolumeDetectSinglePrim()
+        {
+            TestHelpers.InMethod();
+
+            m_scene.AddSceneObject(m_so1);
+
+            SceneObjectPart rootPart = m_so1.RootPart;
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.None));
+
+            m_so1.ScriptSetVolumeDetect(true);
+
+//            Console.WriteLine("so.RootPart.Flags [{0}]", so.RootPart.Flags);
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.Phantom));
+
+            m_so1.ScriptSetVolumeDetect(false);
+
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.None));            
+        }
+
+        [Test]
         public void TestSetPhysicsSinglePrim()
         {
             TestHelpers.InMethod();
@@ -89,13 +109,32 @@ namespace OpenSim.Region.Framework.Scenes.Tests
 
             m_so1.ScriptSetPhysicsStatus(true);
 
-//            Console.WriteLine("so.RootPart.Flags [{0}]", so.RootPart.Flags);
             Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.Physics));
 
             m_so1.ScriptSetPhysicsStatus(false);
 
             Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.None));
         }
+
+        [Test]
+        public void TestSetPhysicsVolumeDetectSinglePrim()
+        {
+            TestHelpers.InMethod();
+
+            m_scene.AddSceneObject(m_so1);
+
+            SceneObjectPart rootPart = m_so1.RootPart;
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.None));
+
+            m_so1.ScriptSetPhysicsStatus(true);
+            m_so1.ScriptSetVolumeDetect(true);
+
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.Phantom | PrimFlags.Physics));
+
+            m_so1.ScriptSetVolumeDetect(false);
+
+            Assert.That(rootPart.Flags, Is.EqualTo(PrimFlags.Physics));            
+        }
         
         [Test]
         public void TestSetPhysicsLinkset()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAnimationTests.cs b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAnimationTests.cs
index 646e5fa..1cd8ae9 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAnimationTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAnimationTests.cs
@@ -51,7 +51,7 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Scene presence animation tests
     /// </summary>
     [TestFixture]
-    public class ScenePresenceAnimationTests
+    public class ScenePresenceAnimationTests : OpenSimTestCase
     {
         [Test]
         public void TestFlyingAnimation()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAutopilotTests.cs b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAutopilotTests.cs
index 1d1ff88..d80afd3 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAutopilotTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceAutopilotTests.cs
@@ -42,7 +42,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class ScenePresenceAutopilotTests
+    public class ScenePresenceAutopilotTests : OpenSimTestCase
     {
         private TestScene m_scene;
 
diff --git a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceSitTests.cs b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceSitTests.cs
index 493ab70..acaeb90 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceSitTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceSitTests.cs
@@ -43,7 +43,7 @@ using System.Threading;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class ScenePresenceSitTests
+    public class ScenePresenceSitTests : OpenSimTestCase
     {
         private TestScene m_scene;
         private ScenePresence m_sp;
diff --git a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceTeleportTests.cs b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceTeleportTests.cs
index 37b5184..8dd1f3d 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceTeleportTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/ScenePresenceTeleportTests.cs
@@ -49,7 +49,7 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Teleport tests in a standalone OpenSim
     /// </summary>
     [TestFixture]
-    public class ScenePresenceTeleportTests
+    public class ScenePresenceTeleportTests : OpenSimTestCase
     {
         [TestFixtureSetUp]
         public void FixtureInit()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneTests.cs
index ac3da1e..9d8eb0b 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneTests.cs
@@ -50,7 +50,7 @@ namespace OpenSim.Region.Framework.Scenes.Tests
     /// Scene presence tests
     /// </summary>
     [TestFixture]
-    public class SceneTests
+    public class SceneTests : OpenSimTestCase
     {
         /// <summary>
         /// Very basic scene update test.  Should become more elaborate with time.
diff --git a/OpenSim/Region/Framework/Scenes/Tests/TaskInventoryTests.cs b/OpenSim/Region/Framework/Scenes/Tests/TaskInventoryTests.cs
index a51e4e3..0b461f5 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/TaskInventoryTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/TaskInventoryTests.cs
@@ -50,7 +50,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Tests
 {
     [TestFixture]
-    public class TaskInventoryTests
+    public class TaskInventoryTests : OpenSimTestCase
     {
         [Test]
         public void TestAddTaskInventoryItem()
diff --git a/OpenSim/Region/Framework/Scenes/Tests/UuidGathererTests.cs b/OpenSim/Region/Framework/Scenes/Tests/UuidGathererTests.cs
index 198e487..dd27294 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/UuidGathererTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/UuidGathererTests.cs
@@ -38,7 +38,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.Framework.Scenes.Tests
 {
     [TestFixture]
-    public class UuidGathererTests
+    public class UuidGathererTests : OpenSimTestCase
     {
         protected IAssetService m_assetService;
         protected UuidGatherer m_uuidGatherer;
diff --git a/OpenSim/Region/Framework/Scenes/UuidGatherer.cs b/OpenSim/Region/Framework/Scenes/UuidGatherer.cs
index 2279e62..b09ae39 100644
--- a/OpenSim/Region/Framework/Scenes/UuidGatherer.cs
+++ b/OpenSim/Region/Framework/Scenes/UuidGatherer.cs
@@ -127,7 +127,10 @@ namespace OpenSim.Region.Framework.Scenes
         /// within this object).
         /// </remarks>
         /// <param name="sceneObject">The scene object for which to gather assets</param>
-        /// <param name="assetUuids">The assets gathered</param>
+        /// <param name="assetUuids">
+        /// A dictionary which is populated with the asset UUIDs gathered and the type of that asset.
+        /// For assets where the type is not clear (e.g. UUIDs extracted from LSL and notecards), the type is Unknown.
+        /// </param>
         public void GatherAssetUuids(SceneObjectGroup sceneObject, IDictionary<UUID, AssetType> assetUuids)
         {
 //            m_log.DebugFormat(
@@ -257,8 +260,9 @@ namespace OpenSim.Region.Framework.Scenes
                     UUID uuid = new UUID(uuidMatch.Value);
 //                    m_log.DebugFormat("[ARCHIVER]: Recording {0} in text", uuid);
 
-                    // Assume AssetIDs embedded are textures.
-                    assetUuids[uuid] = AssetType.Texture;
+                    // Embedded asset references (if not false positives) could be for many types of asset, so we will
+                    // label these as unknown.
+                    assetUuids[uuid] = AssetType.Unknown;
                 }
             }
         }
diff --git a/OpenSim/Region/OptionalModules/Avatar/Animations/AnimationsCommandModule.cs b/OpenSim/Region/OptionalModules/Avatar/Animations/AnimationsCommandModule.cs
new file mode 100644
index 0000000..84211a9
--- /dev/null
+++ b/OpenSim/Region/OptionalModules/Avatar/Animations/AnimationsCommandModule.cs
@@ -0,0 +1,200 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+using log4net;
+using Mono.Addins;
+using Nini.Config;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Framework.Console;
+using OpenSim.Framework.Monitoring;
+using OpenSim.Region.ClientStack.LindenUDP;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Framework.Scenes.Animation;
+using OpenSim.Services.Interfaces;
+
+namespace OpenSim.Region.OptionalModules.Avatar.Animations
+{
+    /// <summary>
+    /// A module that just holds commands for inspecting avatar animations.
+    /// </summary>
+    [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "AnimationsCommandModule")]
+    public class AnimationsCommandModule : ISharedRegionModule
+    {
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private List<Scene> m_scenes = new List<Scene>();
+
+        public string Name { get { return "Animations Command Module"; } }
+        
+        public Type ReplaceableInterface { get { return null; } }
+        
+        public void Initialise(IConfigSource source)
+        {
+//            m_log.DebugFormat("[ANIMATIONS COMMAND MODULE]: INITIALIZED MODULE");
+        }
+        
+        public void PostInitialise()
+        {
+//            m_log.DebugFormat("[ANIMATIONS COMMAND MODULE]: POST INITIALIZED MODULE");
+        }
+        
+        public void Close()
+        {
+//            m_log.DebugFormat("[ANIMATIONS COMMAND MODULE]: CLOSED MODULE");
+        }
+        
+        public void AddRegion(Scene scene)
+        {
+//            m_log.DebugFormat("[ANIMATIONS COMMAND MODULE]: REGION {0} ADDED", scene.RegionInfo.RegionName);
+        }
+        
+        public void RemoveRegion(Scene scene)
+        {
+//            m_log.DebugFormat("[ATTACHMENTS COMMAND MODULE]: REGION {0} REMOVED", scene.RegionInfo.RegionName);
+            
+            lock (m_scenes)
+                m_scenes.Remove(scene);
+        }        
+        
+        public void RegionLoaded(Scene scene)
+        {
+//            m_log.DebugFormat("[ANIMATIONS COMMAND MODULE]: REGION {0} LOADED", scene.RegionInfo.RegionName);
+            
+            lock (m_scenes)
+                m_scenes.Add(scene);
+
+            scene.AddCommand(
+                "Users", this, "show animations",
+                "show animations [<first-name> <last-name>]",
+                "Show animation information for avatars in this simulator.",
+                "If no name is supplied then information for all avatars is shown.\n"
+                + "Please note that for inventory animations, the animation name is the name under which the animation was originally uploaded\n"
+                + ", which is not necessarily the current inventory name.",
+                HandleShowAnimationsCommand);
+        }
+
+        protected void HandleShowAnimationsCommand(string module, string[] cmd)
+        {
+            if (cmd.Length != 2 && cmd.Length < 4)
+            {
+                MainConsole.Instance.OutputFormat("Usage: show animations [<first-name> <last-name>]");
+                return;
+            }
+
+            bool targetNameSupplied = false;
+            string optionalTargetFirstName = null;
+            string optionalTargetLastName = null;
+
+            if (cmd.Length >= 4)
+            {
+                targetNameSupplied = true;
+                optionalTargetFirstName = cmd[2];
+                optionalTargetLastName = cmd[3];
+            }
+
+            StringBuilder sb = new StringBuilder();
+
+            lock (m_scenes)
+            {
+                foreach (Scene scene in m_scenes)
+                {
+                    if (targetNameSupplied)
+                    {
+                        ScenePresence sp = scene.GetScenePresence(optionalTargetFirstName, optionalTargetLastName);
+                        if (sp != null && !sp.IsChildAgent)
+                            GetAttachmentsReport(sp, sb);
+                    }
+                    else
+                    {
+                        scene.ForEachRootScenePresence(sp => GetAttachmentsReport(sp, sb));
+                    }
+                }
+            }
+
+            MainConsole.Instance.Output(sb.ToString());
+        }
+
+        private void GetAttachmentsReport(ScenePresence sp, StringBuilder sb)
+        {
+            sb.AppendFormat("Animations for {0}\n", sp.Name);
+
+            ConsoleDisplayList cdl = new ConsoleDisplayList() { Indent = 2 };
+            ScenePresenceAnimator spa = sp.Animator;
+            AnimationSet anims = sp.Animator.Animations;
+
+            string cma = spa.CurrentMovementAnimation;
+            cdl.AddRow(
+                "Current movement anim", 
+                string.Format("{0}, {1}", DefaultAvatarAnimations.GetDefaultAnimation(cma), cma));
+
+            UUID defaultAnimId = anims.DefaultAnimation.AnimID;
+            cdl.AddRow(
+                "Default anim", 
+                string.Format("{0}, {1}", defaultAnimId, sp.Animator.GetAnimName(defaultAnimId)));
+
+            UUID implicitDefaultAnimId = anims.ImplicitDefaultAnimation.AnimID;
+            cdl.AddRow(
+                "Implicit default anim", 
+                string.Format("{0}, {1}", 
+                    implicitDefaultAnimId, sp.Animator.GetAnimName(implicitDefaultAnimId)));
+
+            cdl.AddToStringBuilder(sb);
+
+            ConsoleDisplayTable cdt = new ConsoleDisplayTable() { Indent = 2 };
+            cdt.AddColumn("Animation ID", 36);
+            cdt.AddColumn("Name", 20);
+            cdt.AddColumn("Seq", 3);
+            cdt.AddColumn("Object ID", 36);
+
+            UUID[] animIds;
+            int[] sequenceNumbers;
+            UUID[] objectIds;
+
+            sp.Animator.Animations.GetArrays(out animIds, out sequenceNumbers, out objectIds);
+
+            for (int i = 0; i < animIds.Length; i++)
+            {
+                UUID animId = animIds[i];
+                string animName = sp.Animator.GetAnimName(animId);
+                int seq = sequenceNumbers[i];
+                UUID objectId = objectIds[i];
+
+                cdt.AddRow(animId, animName, seq, objectId);
+            }
+
+            cdt.AddToStringBuilder(sb);
+            sb.Append("\n");
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs b/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs
index 68bcb4a..d97e3b3 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs
@@ -97,6 +97,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
                 "Users", this, "attachments show",
                 "attachments show [<first-name> <last-name>]",
                 "Show attachment information for avatars in this simulator.",
+                "If no name is supplied then information for all avatars is shown.",
                 HandleShowAttachmentsCommand);
         }
 
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs
index 66265d8..5a37fad 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs
@@ -55,42 +55,42 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
         // These are the IRC Connector configurable parameters with hard-wired
         // default values (retained for compatability).
 
-        internal string Server               = null;
-        internal string Password             = null;
-        internal string IrcChannel           = null;
-        internal string BaseNickname         = "OSimBot";
-        internal uint   Port                 = 6667;
-        internal string User                 = null;
-
-        internal bool   ClientReporting      = true;
-        internal bool   RelayChat            = true;
-        internal bool   RelayPrivateChannels = false;
-        internal int    RelayChannel         = 1;
+        internal string Server = null;
+        internal string Password = null;
+        internal string IrcChannel = null;
+        internal string BaseNickname = "OSimBot";
+        internal uint Port = 6667;
+        internal string User = null;
+
+        internal bool ClientReporting = true;
+        internal bool RelayChat = true;
+        internal bool RelayPrivateChannels = false;
+        internal int RelayChannel = 1;
         internal List<int> ValidInWorldChannels = new List<int>();
 
         // Connector agnostic parameters. These values are NOT shared with the
         // connector and do not differentiate at an IRC level
 
         internal string PrivateMessageFormat = "PRIVMSG {0} :<{2}> {1} {3}";
-        internal string NoticeMessageFormat  = "PRIVMSG {0} :<{2}> {3}";
-        internal int    RelayChannelOut      = -1;
-        internal bool   RandomizeNickname    = true;
-        internal bool   CommandsEnabled      = false;
-        internal int    CommandChannel       = -1;
-        internal int    ConnectDelay         = 10;
-        internal int    PingDelay            = 15;
-        internal string DefaultZone          = "Sim";
-
-        internal string _accessPassword      = String.Empty;
-        internal Regex  AccessPasswordRegex  = null;
-        internal List<string> ExcludeList    = new List<string>();
+        internal string NoticeMessageFormat = "PRIVMSG {0} :<{2}> {3}";
+        internal int RelayChannelOut = -1;
+        internal bool RandomizeNickname = true;
+        internal bool CommandsEnabled = false;
+        internal int CommandChannel = -1;
+        internal int ConnectDelay = 10;
+        internal int PingDelay = 15;
+        internal string DefaultZone = "Sim";
+
+        internal string _accessPassword = String.Empty;
+        internal Regex AccessPasswordRegex = null;
+        internal List<string> ExcludeList = new List<string>();
         internal string AccessPassword
         {
             get { return _accessPassword; }
-            set 
+            set
             {
                 _accessPassword = value;
-                AccessPasswordRegex = new Regex(String.Format(@"^{0},\s*(?<avatar>[^,]+),\s*(?<message>.+)$", _accessPassword), 
+                AccessPasswordRegex = new Regex(String.Format(@"^{0},\s*(?<avatar>[^,]+),\s*(?<message>.+)$", _accessPassword),
                                                 RegexOptions.Compiled);
             }
         }
@@ -99,9 +99,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         // IRC connector reference
 
-        internal IRCConnector irc           = null;
+        internal IRCConnector irc = null;
 
-        internal int idn                     = _idk_++;
+        internal int idn = _idk_++;
 
         // List of regions dependent upon this connection
 
@@ -119,29 +119,29 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         internal ChannelState(ChannelState model)
         {
-            Server               = model.Server;
-            Password             = model.Password;
-            IrcChannel           = model.IrcChannel;
-            Port                 = model.Port;
-            BaseNickname         = model.BaseNickname;
-            RandomizeNickname    = model.RandomizeNickname;
-            User                 = model.User;
-            CommandsEnabled      = model.CommandsEnabled;
-            CommandChannel       = model.CommandChannel;
-            RelayChat            = model.RelayChat;
+            Server = model.Server;
+            Password = model.Password;
+            IrcChannel = model.IrcChannel;
+            Port = model.Port;
+            BaseNickname = model.BaseNickname;
+            RandomizeNickname = model.RandomizeNickname;
+            User = model.User;
+            CommandsEnabled = model.CommandsEnabled;
+            CommandChannel = model.CommandChannel;
+            RelayChat = model.RelayChat;
             RelayPrivateChannels = model.RelayPrivateChannels;
-            RelayChannelOut      = model.RelayChannelOut;
-            RelayChannel         = model.RelayChannel;
+            RelayChannelOut = model.RelayChannelOut;
+            RelayChannel = model.RelayChannel;
             ValidInWorldChannels = model.ValidInWorldChannels;
             PrivateMessageFormat = model.PrivateMessageFormat;
-            NoticeMessageFormat  = model.NoticeMessageFormat;
-            ClientReporting      = model.ClientReporting;
-            AccessPassword       = model.AccessPassword;
-            DefaultZone          = model.DefaultZone;
-            ConnectDelay         = model.ConnectDelay;
-            PingDelay            = model.PingDelay;
+            NoticeMessageFormat = model.NoticeMessageFormat;
+            ClientReporting = model.ClientReporting;
+            AccessPassword = model.AccessPassword;
+            DefaultZone = model.DefaultZone;
+            ConnectDelay = model.ConnectDelay;
+            PingDelay = model.PingDelay;
         }
-        
+
         // Read the configuration file, performing variable substitution and any
         // necessary aliasing. See accompanying documentation for how this works.
         // If you don't need variables, then this works exactly as before.
@@ -160,54 +160,54 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             m_log.DebugFormat("[IRC-Channel-{0}] Initial request by Region {1} to connect to IRC", cs.idn, rs.Region);
 
-            cs.Server               = Substitute(rs, config.GetString("server", null));
+            cs.Server = Substitute(rs, config.GetString("server", null));
             m_log.DebugFormat("[IRC-Channel-{0}] Server : <{1}>", cs.idn, cs.Server);
-            cs.Password             = Substitute(rs, config.GetString("password", null));
+            cs.Password = Substitute(rs, config.GetString("password", null));
             // probably not a good idea to put a password in the log file
-            cs.User                 = Substitute(rs, config.GetString("user", null));
-            cs.IrcChannel           = Substitute(rs, config.GetString("channel", null));
+            cs.User = Substitute(rs, config.GetString("user", null));
+            cs.IrcChannel = Substitute(rs, config.GetString("channel", null));
             m_log.DebugFormat("[IRC-Channel-{0}] IrcChannel : <{1}>", cs.idn, cs.IrcChannel);
-            cs.Port                 = Convert.ToUInt32(Substitute(rs, config.GetString("port", Convert.ToString(cs.Port))));
+            cs.Port = Convert.ToUInt32(Substitute(rs, config.GetString("port", Convert.ToString(cs.Port))));
             m_log.DebugFormat("[IRC-Channel-{0}] Port : <{1}>", cs.idn, cs.Port);
-            cs.BaseNickname         = Substitute(rs, config.GetString("nick", cs.BaseNickname));
+            cs.BaseNickname = Substitute(rs, config.GetString("nick", cs.BaseNickname));
             m_log.DebugFormat("[IRC-Channel-{0}] BaseNickname : <{1}>", cs.idn, cs.BaseNickname);
-            cs.RandomizeNickname    = Convert.ToBoolean(Substitute(rs, config.GetString("randomize_nick", Convert.ToString(cs.RandomizeNickname))));
+            cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("randomize_nick", Convert.ToString(cs.RandomizeNickname))));
             m_log.DebugFormat("[IRC-Channel-{0}] RandomizeNickname : <{1}>", cs.idn, cs.RandomizeNickname);
-            cs.RandomizeNickname    = Convert.ToBoolean(Substitute(rs, config.GetString("nicknum", Convert.ToString(cs.RandomizeNickname))));
+            cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("nicknum", Convert.ToString(cs.RandomizeNickname))));
             m_log.DebugFormat("[IRC-Channel-{0}] RandomizeNickname : <{1}>", cs.idn, cs.RandomizeNickname);
-            cs.User                 = Substitute(rs, config.GetString("username", cs.User));
+            cs.User = Substitute(rs, config.GetString("username", cs.User));
             m_log.DebugFormat("[IRC-Channel-{0}] User : <{1}>", cs.idn, cs.User);
-            cs.CommandsEnabled      = Convert.ToBoolean(Substitute(rs, config.GetString("commands_enabled", Convert.ToString(cs.CommandsEnabled))));
+            cs.CommandsEnabled = Convert.ToBoolean(Substitute(rs, config.GetString("commands_enabled", Convert.ToString(cs.CommandsEnabled))));
             m_log.DebugFormat("[IRC-Channel-{0}] CommandsEnabled : <{1}>", cs.idn, cs.CommandsEnabled);
-            cs.CommandChannel       = Convert.ToInt32(Substitute(rs, config.GetString("commandchannel", Convert.ToString(cs.CommandChannel))));
+            cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("commandchannel", Convert.ToString(cs.CommandChannel))));
             m_log.DebugFormat("[IRC-Channel-{0}] CommandChannel : <{1}>", cs.idn, cs.CommandChannel);
-            cs.CommandChannel       = Convert.ToInt32(Substitute(rs, config.GetString("command_channel", Convert.ToString(cs.CommandChannel))));
+            cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("command_channel", Convert.ToString(cs.CommandChannel))));
             m_log.DebugFormat("[IRC-Channel-{0}] CommandChannel : <{1}>", cs.idn, cs.CommandChannel);
-            cs.RelayChat            = Convert.ToBoolean(Substitute(rs, config.GetString("relay_chat", Convert.ToString(cs.RelayChat))));
+            cs.RelayChat = Convert.ToBoolean(Substitute(rs, config.GetString("relay_chat", Convert.ToString(cs.RelayChat))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayChat           : <{1}>", cs.idn, cs.RelayChat);
             cs.RelayPrivateChannels = Convert.ToBoolean(Substitute(rs, config.GetString("relay_private_channels", Convert.ToString(cs.RelayPrivateChannels))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayPrivateChannels : <{1}>", cs.idn, cs.RelayPrivateChannels);
             cs.RelayPrivateChannels = Convert.ToBoolean(Substitute(rs, config.GetString("useworldcomm", Convert.ToString(cs.RelayPrivateChannels))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayPrivateChannels : <{1}>", cs.idn, cs.RelayPrivateChannels);
-            cs.RelayChannelOut      = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_out", Convert.ToString(cs.RelayChannelOut))));
+            cs.RelayChannelOut = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_out", Convert.ToString(cs.RelayChannelOut))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayChannelOut : <{1}>", cs.idn, cs.RelayChannelOut);
-            cs.RelayChannel         = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_in", Convert.ToString(cs.RelayChannel))));
+            cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_in", Convert.ToString(cs.RelayChannel))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayChannel : <{1}>", cs.idn, cs.RelayChannel);
-            cs.RelayChannel         = Convert.ToInt32(Substitute(rs, config.GetString("inchannel", Convert.ToString(cs.RelayChannel))));
+            cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("inchannel", Convert.ToString(cs.RelayChannel))));
             m_log.DebugFormat("[IRC-Channel-{0}] RelayChannel : <{1}>", cs.idn, cs.RelayChannel);
             cs.PrivateMessageFormat = Substitute(rs, config.GetString("msgformat", cs.PrivateMessageFormat));
             m_log.DebugFormat("[IRC-Channel-{0}] PrivateMessageFormat : <{1}>", cs.idn, cs.PrivateMessageFormat);
             cs.NoticeMessageFormat = Substitute(rs, config.GetString("noticeformat", cs.NoticeMessageFormat));
             m_log.DebugFormat("[IRC-Channel-{0}] NoticeMessageFormat : <{1}>", cs.idn, cs.NoticeMessageFormat);
-            cs.ClientReporting      = Convert.ToInt32(Substitute(rs, config.GetString("verbosity", cs.ClientReporting?"1":"0"))) > 0;
+            cs.ClientReporting = Convert.ToInt32(Substitute(rs, config.GetString("verbosity", cs.ClientReporting ? "1" : "0"))) > 0;
             m_log.DebugFormat("[IRC-Channel-{0}] ClientReporting : <{1}>", cs.idn, cs.ClientReporting);
-            cs.ClientReporting      = Convert.ToBoolean(Substitute(rs, config.GetString("report_clients", Convert.ToString(cs.ClientReporting))));
+            cs.ClientReporting = Convert.ToBoolean(Substitute(rs, config.GetString("report_clients", Convert.ToString(cs.ClientReporting))));
             m_log.DebugFormat("[IRC-Channel-{0}] ClientReporting : <{1}>", cs.idn, cs.ClientReporting);
-            cs.DefaultZone          = Substitute(rs, config.GetString("fallback_region", cs.DefaultZone));
+            cs.DefaultZone = Substitute(rs, config.GetString("fallback_region", cs.DefaultZone));
             m_log.DebugFormat("[IRC-Channel-{0}] DefaultZone : <{1}>", cs.idn, cs.DefaultZone);
-            cs.ConnectDelay      = Convert.ToInt32(Substitute(rs, config.GetString("connect_delay", Convert.ToString(cs.ConnectDelay))));
+            cs.ConnectDelay = Convert.ToInt32(Substitute(rs, config.GetString("connect_delay", Convert.ToString(cs.ConnectDelay))));
             m_log.DebugFormat("[IRC-Channel-{0}] ConnectDelay : <{1}>", cs.idn, cs.ConnectDelay);
-            cs.PingDelay      = Convert.ToInt32(Substitute(rs, config.GetString("ping_delay", Convert.ToString(cs.PingDelay))));
+            cs.PingDelay = Convert.ToInt32(Substitute(rs, config.GetString("ping_delay", Convert.ToString(cs.PingDelay))));
             m_log.DebugFormat("[IRC-Channel-{0}] PingDelay : <{1}>", cs.idn, cs.PingDelay);
             cs.AccessPassword = Substitute(rs, config.GetString("access_password", cs.AccessPassword));
             m_log.DebugFormat("[IRC-Channel-{0}] AccessPassword : <{1}>", cs.idn, cs.AccessPassword);
@@ -217,7 +217,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             {
                 cs.ExcludeList.Add(name.Trim().ToLower());
             }
-            
+
             // Fail if fundamental information is still missing
 
             if (cs.Server == null)
@@ -306,8 +306,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
                     IRCBridgeModule.m_channels.Add(cs);
 
-                    m_log.InfoFormat("[IRC-Channel-{0}] New channel initialized for {1}, nick: {2}, commands {3}, private channels {4}", 
-                                 cs.idn, rs.Region, cs.DefaultZone, 
+                    m_log.InfoFormat("[IRC-Channel-{0}] New channel initialized for {1}, nick: {2}, commands {3}, private channels {4}",
+                                 cs.idn, rs.Region, cs.DefaultZone,
                                  cs.CommandsEnabled ? "enabled" : "not enabled",
                                  cs.RelayPrivateChannels ? "relayed" : "not relayed");
                 }
@@ -417,7 +417,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
         private bool IsAConnectionMatchFor(ChannelState cs)
         {
             return (
-                Server == cs.Server && 
+                Server == cs.Server &&
                 IrcChannel == cs.IrcChannel &&
                 Port == cs.Port &&
                 BaseNickname == cs.BaseNickname &&
@@ -473,27 +473,27 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             {
 
                 string vvar = arg.Match(result).ToString();
-                string var  = vvar.Substring(1,vvar.Length-2).Trim();
+                string var = vvar.Substring(1, vvar.Length - 2).Trim();
 
                 switch (var.ToLower())
                 {
-                    case "%region"  :
+                    case "%region":
                         result = result.Replace(vvar, rs.Region);
                         break;
-                    case "%host"    :
+                    case "%host":
                         result = result.Replace(vvar, rs.Host);
                         break;
-                    case "%locx"    :
+                    case "%locx":
                         result = result.Replace(vvar, rs.LocX);
                         break;
-                    case "%locy"    :
+                    case "%locy":
                         result = result.Replace(vvar, rs.LocY);
                         break;
-                    case "%k"       :
+                    case "%k":
                         result = result.Replace(vvar, rs.IDK);
                         break;
-                    default         :
-                        result = result.Replace(vvar, rs.config.GetString(var,var));
+                    default:
+                        result = result.Replace(vvar, rs.config.GetString(var, var));
                         break;
                 }
                 // m_log.DebugFormat("[IRC-Channel] Parse[2]: {0}", result);
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs
index 2e1d03d..351dbfe 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs
@@ -46,18 +46,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
-        internal static bool m_pluginEnabled = false;
+        internal static bool Enabled = false;
         internal static IConfig m_config = null;
 
         internal static List<ChannelState> m_channels = new List<ChannelState>();
-        internal static List<RegionState>  m_regions  = new List<RegionState>();
+        internal static List<RegionState> m_regions = new List<RegionState>();
 
         internal static string m_password = String.Empty;
         internal RegionState m_region = null;
 
         #region INonSharedRegionModule Members
 
-        public Type ReplaceableInterface 
+        public Type ReplaceableInterface
         {
             get { return null; }
         }
@@ -72,13 +72,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             m_config = config.Configs["IRC"];
             if (m_config == null)
             {
-//                m_log.InfoFormat("[IRC-Bridge] module not configured");
+                //                m_log.InfoFormat("[IRC-Bridge] module not configured");
                 return;
             }
 
             if (!m_config.GetBoolean("enabled", false))
             {
-//                m_log.InfoFormat("[IRC-Bridge] module disabled in configuration");
+                //                m_log.InfoFormat("[IRC-Bridge] module disabled in configuration");
                 return;
             }
 
@@ -87,19 +87,22 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 m_password = config.Configs["RemoteAdmin"].GetString("access_password", m_password);
             }
 
-            m_pluginEnabled = true;
-            m_log.InfoFormat("[IRC-Bridge]: Module enabled");
+            Enabled = true;
+
+            m_log.InfoFormat("[IRC-Bridge]: Module is enabled");
         }
 
         public void AddRegion(Scene scene)
         {
-            if (m_pluginEnabled)
+            if (Enabled)
             {
                 try
                 {
                     m_log.InfoFormat("[IRC-Bridge] Connecting region {0}", scene.RegionInfo.RegionName);
+
                     if (!String.IsNullOrEmpty(m_password))
                         MainServer.Instance.AddXmlRPCHandler("irc_admin", XmlRpcAdminMethod, false);
+
                     m_region = new RegionState(scene, m_config);
                     lock (m_regions) m_regions.Add(m_region);
                     m_region.Open();
@@ -123,7 +126,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void RemoveRegion(Scene scene)
         {
-            if (!m_pluginEnabled)
+            if (!Enabled)
                 return;
 
             if (m_region == null)
@@ -150,12 +153,12 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             m_log.Debug("[IRC-Bridge]: XML RPC Admin Entry");
 
             XmlRpcResponse response = new XmlRpcResponse();
-            Hashtable  responseData = new Hashtable();
+            Hashtable responseData = new Hashtable();
 
             try
             {
                 Hashtable requestData = (Hashtable)request.Params[0];
-                bool    found = false;
+                bool found = false;
                 string region = String.Empty;
 
                 if (m_password != String.Empty)
@@ -169,18 +172,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 if (!requestData.ContainsKey("region"))
                     throw new Exception("No region name specified");
                 region = (string)requestData["region"];
-                
+
                 foreach (RegionState rs in m_regions)
                 {
                     if (rs.Region == region)
                     {
-                        responseData["server"]    = rs.cs.Server;
-                        responseData["port"]      = (int)rs.cs.Port;
-                        responseData["user"]      = rs.cs.User;
-                        responseData["channel"]   = rs.cs.IrcChannel;
-                        responseData["enabled"]   = rs.cs.irc.Enabled;
+                        responseData["server"] = rs.cs.Server;
+                        responseData["port"] = (int)rs.cs.Port;
+                        responseData["user"] = rs.cs.User;
+                        responseData["channel"] = rs.cs.IrcChannel;
+                        responseData["enabled"] = rs.cs.irc.Enabled;
                         responseData["connected"] = rs.cs.irc.Connected;
-                        responseData["nickname"]  = rs.cs.irc.Nick;
+                        responseData["nickname"] = rs.cs.irc.Nick;
                         found = true;
                         break;
                     }
@@ -195,7 +198,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 m_log.ErrorFormat("[IRC-Bridge] XML RPC Admin request failed : {0}", e.Message);
 
                 responseData["success"] = "false";
-                responseData["error"]   = e.Message;
+                responseData["error"] = e.Message;
             }
             finally
             {
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs
index a014798..c5cba8e 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs
@@ -53,16 +53,16 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
         // Local constants
 
         private static readonly Vector3 CenterOfRegion = new Vector3(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 20);
-        private static readonly char[]  CS_SPACE = { ' ' };
+        private static readonly char[] CS_SPACE = { ' ' };
 
-        private const  int  WD_INTERVAL = 1000;     // base watchdog interval
-        private static int  PING_PERIOD = 15;       // WD intervals per PING
-        private static int  ICCD_PERIOD = 10;       // WD intervals between Connects
-        private static int  L_TIMEOUT   = 25;       // Login time out interval
+        private const int WD_INTERVAL = 1000;     // base watchdog interval
+        private static int PING_PERIOD = 15;       // WD intervals per PING
+        private static int ICCD_PERIOD = 10;       // WD intervals between Connects
+        private static int L_TIMEOUT = 25;       // Login time out interval
 
-        private static int _idk_        = 0;        // core connector identifier
-        private static int _pdk_        = 0;        // ping interval counter
-        private static int _icc_        = ICCD_PERIOD; // IRC connect counter
+        private static int _idk_ = 0;        // core connector identifier
+        private static int _pdk_ = 0;        // ping interval counter
+        private static int _icc_ = ICCD_PERIOD; // IRC connect counter
 
         // List of configured connectors
 
@@ -113,7 +113,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         private Object msyncConnect = new Object();
 
-        internal bool   m_randomizeNick = true; // add random suffix
+        internal bool m_randomizeNick = true; // add random suffix
         internal string m_baseNick = null;      // base name for randomizing
         internal string m_nick = null;          // effective nickname
 
@@ -122,7 +122,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             get { return m_nick; }
             set { m_nick = value; }
         }
-        
+
         private bool m_enabled = false;            // connector enablement
         public bool Enabled
         {
@@ -130,8 +130,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
         }
 
         private bool m_connected = false;        // connection status
-        private bool m_pending   = false;        // login disposition
-        private int  m_timeout   = L_TIMEOUT;    // login timeout counter
+        private bool m_pending = false;        // login disposition
+        private int m_timeout = L_TIMEOUT;    // login timeout counter
         public bool Connected
         {
             get { return m_connected; }
@@ -143,9 +143,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             get { return m_ircChannel; }
             set { m_ircChannel = value; }
         }
-        
+
         private uint m_port = 6667;                // session port
-        public uint Port 
+        public uint Port
         {
             get { return m_port; }
             set { m_port = value; }
@@ -172,10 +172,10 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         // Network interface
 
-        private TcpClient     m_tcp;
+        private TcpClient m_tcp;
         private NetworkStream m_stream = null;
-        private StreamReader  m_reader;
-        private StreamWriter  m_writer;
+        private StreamReader m_reader;
+        private StreamWriter m_writer;
 
         // Channel characteristic info (if available)
 
@@ -193,26 +193,26 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             // Prepare network interface
 
-            m_tcp    = null;
+            m_tcp = null;
             m_writer = null;
             m_reader = null;
 
             // Setup IRC session parameters
 
-            m_server        = cs.Server;
-            m_password      = cs.Password;
-            m_baseNick      = cs.BaseNickname;
+            m_server = cs.Server;
+            m_password = cs.Password;
+            m_baseNick = cs.BaseNickname;
             m_randomizeNick = cs.RandomizeNickname;
-            m_ircChannel    = cs.IrcChannel;
-            m_port          = cs.Port;
-            m_user          = cs.User;
+            m_ircChannel = cs.IrcChannel;
+            m_port = cs.Port;
+            m_user = cs.User;
 
             if (m_watchdog == null)
             {
                 // Non-differentiating
 
-                ICCD_PERIOD     = cs.ConnectDelay;
-                PING_PERIOD     = cs.PingDelay;
+                ICCD_PERIOD = cs.ConnectDelay;
+                PING_PERIOD = cs.PingDelay;
 
                 // Smaller values are not reasonable
 
@@ -235,7 +235,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             if (m_randomizeNick)
                 m_nick = m_baseNick + Util.RandomClass.Next(1, 99);
-            else 
+            else
                 m_nick = m_baseNick;
 
             m_log.InfoFormat("[IRC-Connector-{0}]: Initialization complete", idn);
@@ -295,18 +295,22 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                                 m_nick, m_ircChannel, m_server));
                             m_writer.Flush();
                         }
-                        catch (Exception) {}
-       
+                        catch (Exception) { }
+
 
                         m_connected = false;
 
-                        try { m_writer.Close(); } catch (Exception) {}
-                        try { m_reader.Close(); } catch (Exception) {}
-                        try { m_stream.Close(); } catch (Exception) {}
-                        try { m_tcp.Close();    } catch (Exception) {}
+                        try { m_writer.Close(); }
+                        catch (Exception) { }
+                        try { m_reader.Close(); }
+                        catch (Exception) { }
+                        try { m_stream.Close(); }
+                        catch (Exception) { }
+                        try { m_tcp.Close(); }
+                        catch (Exception) { }
 
                     }
-       
+
                     lock (m_connectors)
                         m_connectors.Remove(this);
 
@@ -347,15 +351,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                     if (m_connected) return;
 
                     m_connected = true;
-                    m_pending   = true;
-                    m_timeout   = L_TIMEOUT;
+                    m_pending = true;
+                    m_timeout = L_TIMEOUT;
 
-                    m_tcp    = new TcpClient(m_server, (int)m_port);
+                    m_tcp = new TcpClient(m_server, (int)m_port);
                     m_stream = m_tcp.GetStream();
                     m_reader = new StreamReader(m_stream);
                     m_writer = new StreamWriter(m_stream);
 
-                    m_log.InfoFormat("[IRC-Connector-{0}]: Connected to {1}:{2}", idn, m_server, m_port); 
+                    m_log.InfoFormat("[IRC-Connector-{0}]: Connected to {1}:{2}", idn, m_server, m_port);
 
                     m_listener = new Thread(new ThreadStart(ListenerRun));
                     m_listener.Name = "IRCConnectorListenerThread";
@@ -418,12 +422,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                     // the socket and it will disappear of its own accord, once this
                     // processing is completed.
 
-                    try { m_writer.Close(); } catch (Exception) {}
-                    try { m_reader.Close(); } catch (Exception) {}
-                    try { m_tcp.Close();    } catch (Exception) {}
+                    try { m_writer.Close(); }
+                    catch (Exception) { }
+                    try { m_reader.Close(); }
+                    catch (Exception) { }
+                    try { m_tcp.Close(); }
+                    catch (Exception) { }
 
                     m_connected = false;
-                    m_pending   = false;
+                    m_pending = false;
                     m_resetk++;
 
                 }
@@ -495,7 +502,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
         {
 
             string inputLine;
-            int    resetk = m_resetk;
+            int resetk = m_resetk;
 
             try
             {
@@ -555,7 +562,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 Reconnect();
         }
 
-        private Regex RE = new Regex(@":(?<nick>[\w-]*)!(?<user>\S*) PRIVMSG (?<channel>\S+) :(?<msg>.*)", 
+        private Regex RE = new Regex(@":(?<nick>[\w-]*)!(?<user>\S*) PRIVMSG (?<channel>\S+) :(?<msg>.*)",
                                      RegexOptions.Multiline);
 
         private Dictionary<string, string> ExtractMsg(string input)
@@ -617,8 +624,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             string[] commArgs;
             string c_server = m_server;
 
-            string pfx   = String.Empty;
-            string cmd   = String.Empty;
+            string pfx = String.Empty;
+            string cmd = String.Empty;
             string parms = String.Empty;
 
             // ":" indicates that a prefix is present
@@ -627,15 +634,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             // ":" indicates that the remainder of the
             // line is a single parameter value.
 
-            commArgs = command.Split(CS_SPACE,2);
+            commArgs = command.Split(CS_SPACE, 2);
 
             if (commArgs[0].StartsWith(":"))
             {
                 pfx = commArgs[0].Substring(1);
-                commArgs = commArgs[1].Split(CS_SPACE,2);
+                commArgs = commArgs[1].Split(CS_SPACE, 2);
             }
 
-            cmd   = commArgs[0];
+            cmd = commArgs[0];
             parms = commArgs[1];
 
             // m_log.DebugFormat("[IRC-Connector-{0}] prefix = <{1}> cmd = <{2}>", idn, pfx, cmd);
@@ -646,44 +653,44 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 // Messages 001-004 are always sent
                 // following signon.
 
-                case "001" : // Welcome ...
-                case "002" : // Server information
-                case "003" : // Welcome ...
+                case "001": // Welcome ...
+                case "002": // Server information
+                case "003": // Welcome ...
                     break;
-                case "004" : // Server information
+                case "004": // Server information
                     m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms);
                     commArgs = parms.Split(CS_SPACE);
                     c_server = commArgs[1];
                     m_server = c_server;
-                    version  = commArgs[2];
-                    usermod  = commArgs[3];
-                    chanmod  = commArgs[4];
+                    version = commArgs[2];
+                    usermod = commArgs[3];
+                    chanmod = commArgs[4];
                     break;
-                case "005" : // Server information
+                case "005": // Server information
                     break;
-                case "042" :
-                case "250" :
-                case "251" :
-                case "252" :
-                case "254" :
-                case "255" :
-                case "265" :
-                case "266" :
-                case "332" : // Subject
-                case "333" : // Subject owner (?)
-                case "353" : // Name list
-                case "366" : // End-of-Name list marker
-                case "372" : // MOTD body
-                case "375" : // MOTD start
+                case "042":
+                case "250":
+                case "251":
+                case "252":
+                case "254":
+                case "255":
+                case "265":
+                case "266":
+                case "332": // Subject
+                case "333": // Subject owner (?)
+                case "353": // Name list
+                case "366": // End-of-Name list marker
+                case "372": // MOTD body
+                case "375": // MOTD start
                     // m_log.InfoFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
                     break;
-                case "376" : // MOTD end
+                case "376": // MOTD end
                     // m_log.InfoFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
                     motd = true;
                     break;
-                case "451" : // Not registered
+                case "451": // Not registered
                     break;
-                case "433" : // Nickname in use
+                case "433": // Nickname in use
                     // Gen a new name
                     m_nick = m_baseNick + Util.RandomClass.Next(1, 99);
                     m_log.ErrorFormat("[IRC-Connector-{0}]: [{1}] IRC SERVER reports NicknameInUse, trying {2}", idn, cmd, m_nick);
@@ -695,29 +702,29 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                     m_writer.WriteLine(String.Format("JOIN {0}", m_ircChannel));
                     m_writer.Flush();
                     break;
-                case "479" : // Bad channel name, etc. This will never work, so disable the connection
-                    m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
+                case "479": // Bad channel name, etc. This will never work, so disable the connection
+                    m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE, 2)[1]);
                     m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] Connector disabled", idn, cmd);
-                    m_enabled   = false;
+                    m_enabled = false;
                     m_connected = false;
-                    m_pending   = false;
+                    m_pending = false;
                     break;
-                case "NOTICE" :
+                case "NOTICE":
                     // m_log.WarnFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
                     break;
-                case "ERROR"  :
-                    m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
+                case "ERROR":
+                    m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE, 2)[1]);
                     if (parms.Contains("reconnect too fast"))
                         ICCD_PERIOD++;
-                    m_pending   = false;
+                    m_pending = false;
                     Reconnect();
                     break;
-                case "PING"   :
+                case "PING":
                     m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms);
                     m_writer.WriteLine(String.Format("PONG {0}", parms));
                     m_writer.Flush();
                     break;
-                case "PONG"   :
+                case "PONG":
                     break;
                 case "JOIN":
                     if (m_pending)
@@ -748,19 +755,19 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                     m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms);
                     eventIrcQuit(pfx, cmd, parms);
                     break;
-                default    :
+                default:
                     m_log.DebugFormat("[IRC-Connector-{0}] Command '{1}' ignored, parms = {2}", idn, cmd, parms);
                     break;
             }
 
             // m_log.DebugFormat("[IRC-Connector-{0}] prefix = <{1}> cmd = <{2}> complete", idn, pfx, cmd);
-  
+
         }
 
         public void eventIrcJoin(string prefix, string command, string parms)
         {
-            string[]     args = parms.Split(CS_SPACE,2);
-            string IrcUser    = prefix.Split('!')[0];
+            string[] args = parms.Split(CS_SPACE, 2);
+            string IrcUser = prefix.Split('!')[0];
             string IrcChannel = args[0];
 
             if (IrcChannel.StartsWith(":"))
@@ -772,8 +779,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void eventIrcPart(string prefix, string command, string parms)
         {
-            string[]     args = parms.Split(CS_SPACE,2);
-            string    IrcUser = prefix.Split('!')[0];
+            string[] args = parms.Split(CS_SPACE, 2);
+            string IrcUser = prefix.Split('!')[0];
             string IrcChannel = args[0];
 
             m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCPart {1}:{2}", idn, m_server, m_ircChannel);
@@ -782,7 +789,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void eventIrcMode(string prefix, string command, string parms)
         {
-            string[]   args = parms.Split(CS_SPACE,2);
+            string[] args = parms.Split(CS_SPACE, 2);
             string UserMode = args[1];
 
             m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCMode {1}:{2}", idn, m_server, m_ircChannel);
@@ -794,7 +801,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void eventIrcNickChange(string prefix, string command, string parms)
         {
-            string[]      args = parms.Split(CS_SPACE,2);
+            string[] args = parms.Split(CS_SPACE, 2);
             string UserOldNick = prefix.Split('!')[0];
             string UserNewNick = args[0].Remove(0, 1);
 
@@ -804,11 +811,11 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void eventIrcKick(string prefix, string command, string parms)
         {
-            string[]      args = parms.Split(CS_SPACE,3);
-            string UserKicker  = prefix.Split('!')[0];
-            string IrcChannel  = args[0];
-            string UserKicked  = args[1];
-            string KickMessage = args[2]; 
+            string[] args = parms.Split(CS_SPACE, 3);
+            string UserKicker = prefix.Split('!')[0];
+            string IrcChannel = args[0];
+            string UserKicked = args[1];
+            string KickMessage = args[2];
 
             m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCKick {1}:{2}", idn, m_server, m_ircChannel);
             BroadcastSim(UserKicker, "/me kicks kicks {0} off {1} saying \"{2}\"", UserKicked, IrcChannel, KickMessage);
@@ -822,7 +829,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void eventIrcQuit(string prefix, string command, string parms)
         {
-            string     IrcUser = prefix.Split('!')[0];
+            string IrcUser = prefix.Split('!')[0];
             string QuitMessage = parms;
 
             m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCQuit {1}:{2}", idn, m_server, m_ircChannel);
@@ -842,65 +849,65 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             // m_log.InfoFormat("[IRC-Watchdog] Status scan, pdk = {0}, icc = {1}", _pdk_, _icc_);
 
-            _pdk_ = (_pdk_+1)%PING_PERIOD;    // cycle the ping trigger
+            _pdk_ = (_pdk_ + 1) % PING_PERIOD;    // cycle the ping trigger
             _icc_++;    // increment the inter-consecutive-connect-delay counter
 
             lock (m_connectors)
-            foreach (IRCConnector connector in m_connectors)
-            {
+                foreach (IRCConnector connector in m_connectors)
+                {
 
-                // m_log.InfoFormat("[IRC-Watchdog] Scanning {0}", connector);
+                    // m_log.InfoFormat("[IRC-Watchdog] Scanning {0}", connector);
 
-                if (connector.Enabled)
-                {
-                    if (!connector.Connected)
+                    if (connector.Enabled)
                     {
-                        try
+                        if (!connector.Connected)
                         {
-                            // m_log.DebugFormat("[IRC-Watchdog] Connecting {1}:{2}", connector.idn, connector.m_server, connector.m_ircChannel);
-                            connector.Connect();
+                            try
+                            {
+                                // m_log.DebugFormat("[IRC-Watchdog] Connecting {1}:{2}", connector.idn, connector.m_server, connector.m_ircChannel);
+                                connector.Connect();
+                            }
+                            catch (Exception e)
+                            {
+                                m_log.ErrorFormat("[IRC-Watchdog] Exception on connector {0}: {1} ", connector.idn, e.Message);
+                            }
                         }
-                        catch (Exception e)
+                        else
                         {
-                            m_log.ErrorFormat("[IRC-Watchdog] Exception on connector {0}: {1} ", connector.idn, e.Message);
-                        }
-                    }
-                    else
-                    {
 
-                        if (connector.m_pending)
-                        {
-                            if (connector.m_timeout == 0)
+                            if (connector.m_pending)
                             {
-                                m_log.ErrorFormat("[IRC-Watchdog] Login timed-out for connector {0}, reconnecting", connector.idn);
-                                connector.Reconnect();
+                                if (connector.m_timeout == 0)
+                                {
+                                    m_log.ErrorFormat("[IRC-Watchdog] Login timed-out for connector {0}, reconnecting", connector.idn);
+                                    connector.Reconnect();
+                                }
+                                else
+                                    connector.m_timeout--;
                             }
-                            else
-                                connector.m_timeout--;
-                        }
 
-                        // Being marked connected is not enough to ping. Socket establishment can sometimes take a long
-                        // time, in which case the watch dog might try to ping the server before the socket has been 
-                        // set up, with nasty side-effects.
+                            // Being marked connected is not enough to ping. Socket establishment can sometimes take a long
+                            // time, in which case the watch dog might try to ping the server before the socket has been 
+                            // set up, with nasty side-effects.
 
-                        else if (_pdk_ == 0)
-                        {
-                            try
-                            {
-                                connector.m_writer.WriteLine(String.Format("PING :{0}", connector.m_server));
-                                connector.m_writer.Flush();
-                            }
-                            catch (Exception e)
+                            else if (_pdk_ == 0)
                             {
-                                m_log.ErrorFormat("[IRC-PingRun] Exception on connector {0}: {1} ", connector.idn, e.Message);
-                                m_log.Debug(e);
-                                connector.Reconnect();
+                                try
+                                {
+                                    connector.m_writer.WriteLine(String.Format("PING :{0}", connector.m_server));
+                                    connector.m_writer.Flush();
+                                }
+                                catch (Exception e)
+                                {
+                                    m_log.ErrorFormat("[IRC-PingRun] Exception on connector {0}: {1} ", connector.idn, e.Message);
+                                    m_log.Debug(e);
+                                    connector.Reconnect();
+                                }
                             }
-                        }
 
+                        }
                     }
                 }
-            }
 
             // m_log.InfoFormat("[IRC-Watchdog] Status scan completed");
 
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs
index 53b103e..d4fe5e0 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs
@@ -41,49 +41,71 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
     internal class RegionState
     {
-
         private static readonly ILog m_log =
             LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
         private static readonly OpenMetaverse.Vector3 CenterOfRegion = new OpenMetaverse.Vector3(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 20);
-        private const  int DEBUG_CHANNEL = 2147483647;
+        private const int DEBUG_CHANNEL = 2147483647;
 
-        private static int _idk_         = 0;
+        private static int _idk_ = 0;
 
         // Runtime variables; these values are assigned when the
         // IrcState is created and remain constant thereafter.
 
-        internal string Region               = String.Empty;
-        internal string Host                 = String.Empty;
-        internal string LocX                 = String.Empty;
-        internal string LocY                 = String.Empty;
-        internal string IDK                  = String.Empty;
+        internal string Region = String.Empty;
+        internal string Host = String.Empty;
+        internal string LocX = String.Empty;
+        internal string LocY = String.Empty;
+        internal string IDK = String.Empty;
 
         // System values - used only be the IRC classes themselves
 
-        internal ChannelState cs             = null; // associated IRC configuration
-        internal Scene scene                 = null; // associated scene
-        internal IConfig config              = null; // configuration file reference
-        internal bool enabled                = true; 
- 
+        internal ChannelState cs = null; // associated IRC configuration
+        internal Scene scene = null; // associated scene
+        internal IConfig config = null; // configuration file reference
+        internal bool enabled = true;
+
+        //AgentAlert
+        internal bool showAlert = false;
+        internal string alertMessage = String.Empty;
+        internal IDialogModule dialogModule = null;
+
         // This list is used to keep track of who is here, and by
         // implication, who is not.
 
-        internal List<IClientAPI> clients    = new List<IClientAPI>();
+        internal List<IClientAPI> clients = new List<IClientAPI>();
 
         // Setup runtime variable values
 
         public RegionState(Scene p_scene, IConfig p_config)
         {
-
-            scene  = p_scene;
+            scene = p_scene;
             config = p_config;
 
             Region = scene.RegionInfo.RegionName;
-            Host   = scene.RegionInfo.ExternalHostName;
-            LocX   = Convert.ToString(scene.RegionInfo.RegionLocX);
-            LocY   = Convert.ToString(scene.RegionInfo.RegionLocY);
-            IDK    = Convert.ToString(_idk_++);
+            Host = scene.RegionInfo.ExternalHostName;
+            LocX = Convert.ToString(scene.RegionInfo.RegionLocX);
+            LocY = Convert.ToString(scene.RegionInfo.RegionLocY);
+            IDK = Convert.ToString(_idk_++);
+
+            showAlert = config.GetBoolean("alert_show", false);
+            string alertServerInfo = String.Empty;
+
+            if (showAlert)
+            {
+                bool showAlertServerInfo = config.GetBoolean("alert_show_serverinfo", true);
+
+                if (showAlertServerInfo)
+                    alertServerInfo = String.Format("\nServer: {0}\nPort: {1}\nChannel: {2}\n\n",
+                        config.GetString("server", ""), config.GetString("port", ""), config.GetString("channel", ""));
+
+                string alertPreMessage = config.GetString("alert_msg_pre", "This region is linked to Irc.");
+                string alertPostMessage = config.GetString("alert_msg_post", "Everything you say in public chat can be listened.");
+
+                alertMessage = String.Format("{0}\n{1}{2}", alertPreMessage, alertServerInfo, alertPostMessage);
+
+                dialogModule = scene.RequestModuleInterface<IDialogModule>();
+            }
 
             // OpenChannel conditionally establishes a connection to the
             // IRC server. The request will either succeed, or it will
@@ -93,9 +115,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             // Connect channel to world events
 
-            scene.EventManager.OnChatFromWorld  += OnSimChat;
+            scene.EventManager.OnChatFromWorld += OnSimChat;
             scene.EventManager.OnChatFromClient += OnSimChat;
-            scene.EventManager.OnMakeRootAgent  += OnMakeRootAgent;
+            scene.EventManager.OnMakeRootAgent += OnMakeRootAgent;
             scene.EventManager.OnMakeChildAgent += OnMakeChildAgent;
 
             m_log.InfoFormat("[IRC-Region {0}] Initialization complete", Region);
@@ -106,8 +128,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         ~RegionState()
         {
-          if (cs != null)
-              cs.RemoveRegion(this);
+            if (cs != null)
+                cs.RemoveRegion(this);
         }
 
         // Called by PostInitialize after all regions have been created
@@ -138,7 +160,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             {
                 if (clients.Contains(client))
                 {
-                    if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting)) 
+                    if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting))
                     {
                         m_log.InfoFormat("[IRC-Region {0}]: {1} has left", Region, client.Name);
                         //Check if this person is excluded from IRC
@@ -147,7 +169,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                             cs.irc.PrivMsg(cs.NoticeMessageFormat, cs.irc.Nick, Region, String.Format("{0} has left", client.Name));
                         }
                     }
-                    client.OnLogout           -= OnClientLoggedOut;
+                    client.OnLogout -= OnClientLoggedOut;
                     client.OnConnectionClosed -= OnClientLoggedOut;
                     clients.Remove(client);
                 }
@@ -171,13 +193,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             {
                 if (clients.Contains(client))
                 {
-                    if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting)) 
+                    if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting))
                     {
                         string clientName = String.Format("{0} {1}", presence.Firstname, presence.Lastname);
                         m_log.DebugFormat("[IRC-Region {0}] {1} has left", Region, clientName);
                         cs.irc.PrivMsg(cs.NoticeMessageFormat, cs.irc.Nick, Region, String.Format("{0} has left", clientName));
                     }
-                    client.OnLogout           -= OnClientLoggedOut;
+                    client.OnLogout -= OnClientLoggedOut;
                     client.OnConnectionClosed -= OnClientLoggedOut;
                     clients.Remove(client);
                 }
@@ -195,14 +217,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         private void OnMakeRootAgent(ScenePresence presence)
         {
-
             IClientAPI client = presence.ControllingClient;
 
             try
             {
                 if (!clients.Contains(client))
                 {
-                    client.OnLogout           += OnClientLoggedOut;
+                    client.OnLogout += OnClientLoggedOut;
                     client.OnConnectionClosed += OnClientLoggedOut;
                     clients.Add(client);
                     if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting))
@@ -216,17 +237,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                         }
                     }
                 }
+
+                if (dialogModule != null && showAlert)
+                    dialogModule.SendAlertToUser(client, alertMessage, true);
             }
             catch (Exception ex)
             {
                 m_log.ErrorFormat("[IRC-Region {0}]: MakeRootAgent exception: {1}", Region, ex.Message);
                 m_log.Debug(ex);
             }
-
         }
 
         // This handler detects chat events int he virtual world.
-
         public void OnSimChat(Object sender, OSChatMessage msg)
         {
 
@@ -317,14 +339,14 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                         // that evident.
 
                         default:
-                            m_log.DebugFormat("[IRC-Region {0}] Forwarding unrecognized command to IRC : {1}", 
+                            m_log.DebugFormat("[IRC-Region {0}] Forwarding unrecognized command to IRC : {1}",
                                             Region, msg.Message);
                             cs.irc.Send(msg.Message);
                             break;
                     }
                 }
                 catch (Exception ex)
-                { 
+                {
                     m_log.WarnFormat("[IRC-Region {0}] error processing in-world command channel input: {1}",
                                     Region, ex.Message);
                     m_log.Debug(ex);
@@ -366,7 +388,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
             m_log.DebugFormat("[IRC-Region {0}] heard on channel {1} : {2}", Region, msg.Channel, msg.Message);
 
-            if (null != avatar && cs.RelayChat && (msg.Channel == 0 || msg.Channel == DEBUG_CHANNEL)) 
+            if (null != avatar && cs.RelayChat && (msg.Channel == 0 || msg.Channel == DEBUG_CHANNEL))
             {
                 string txt = msg.Message;
                 if (txt.StartsWith("/me "))
@@ -376,13 +398,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 return;
             }
 
-            if (null == avatar && cs.RelayPrivateChannels && null != cs.AccessPassword && 
+            if (null == avatar && cs.RelayPrivateChannels && null != cs.AccessPassword &&
                 msg.Channel == cs.RelayChannelOut)
             {
                 Match m = cs.AccessPasswordRegex.Match(msg.Message);
                 if (null != m)
                 {
-                    m_log.DebugFormat("[IRC] relaying message from {0}: {1}", m.Groups["avatar"].ToString(), 
+                    m_log.DebugFormat("[IRC] relaying message from {0}: {1}", m.Groups["avatar"].ToString(),
                                       m.Groups["message"].ToString());
                     cs.irc.PrivMsg(cs.PrivateMessageFormat, m.Groups["avatar"].ToString(),
                                    scene.RegionInfo.RegionName, m.Groups["message"].ToString());
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
index ae0ad02..d764936 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
@@ -126,7 +126,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
             {
                 scene.RegisterModuleInterface<IGroupsModule>(this);
                 scene.AddCommand(
-                    "debug",
+                    "Debug",
                     this,
                     "debug groups verbose",
                     "debug groups verbose <true|false>",
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/IGroupsServicesConnector.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/IGroupsServicesConnector.cs
index 6d26075..6b5b40a 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/IGroupsServicesConnector.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/IGroupsServicesConnector.cs
@@ -36,7 +36,22 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
     {
         UUID CreateGroup(UUID RequestingAgentID, string name, string charter, bool showInList, UUID insigniaID, int membershipFee, bool openEnrollment, bool allowPublish, bool maturePublish, UUID founderID);
         void UpdateGroup(UUID RequestingAgentID, UUID groupID, string charter, bool showInList, UUID insigniaID, int membershipFee, bool openEnrollment, bool allowPublish, bool maturePublish);
+
+        /// <summary>
+        /// Get the group record.
+        /// </summary>
+        /// <returns></returns>
+        /// <param name='RequestingAgentID'>The UUID of the user making the request.</param>
+        /// <param name='GroupID'>
+        /// The ID of the record to retrieve.  
+        /// GroupName may be specified instead, in which case this parameter will be UUID.Zero
+        /// </param>
+        /// <param name='GroupName'>
+        /// The name of the group to retrieve.
+        /// GroupID may be specified instead, in which case this parmeter will be null.
+        /// </param>
         GroupRecord GetGroupRecord(UUID RequestingAgentID, UUID GroupID, string GroupName);
+       
         List<DirGroupsReplyData> FindGroups(UUID RequestingAgentID, string search);
         List<GroupMembersData> GetGroupMembers(UUID RequestingAgentID, UUID GroupID);
 
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/Tests/GroupsModuleTests.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/Tests/GroupsModuleTests.cs
index ac638f1..c1bdacb 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/Tests/GroupsModuleTests.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/Tests/GroupsModuleTests.cs
@@ -42,7 +42,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups.Tests
     /// Basic groups module tests
     /// </summary>
     [TestFixture]
-    public class GroupsModuleTests
+    public class GroupsModuleTests : OpenSimTestCase
     {
         [Test]
         public void TestBasic()
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/XmlRpcGroupsServicesConnectorModule.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/XmlRpcGroupsServicesConnectorModule.cs
index d0c3ea5..1101851 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/XmlRpcGroupsServicesConnectorModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/XmlRpcGroupsServicesConnectorModule.cs
@@ -54,13 +54,62 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
 
         private bool m_debugEnabled = false;
 
-        public const GroupPowers m_DefaultEveryonePowers = GroupPowers.AllowSetHome |
-            GroupPowers.Accountable |
-            GroupPowers.JoinChat |
-            GroupPowers.AllowVoiceChat |
-            GroupPowers.ReceiveNotices |
-            GroupPowers.StartProposal |
-            GroupPowers.VoteOnProposal;
+        public const GroupPowers DefaultEveryonePowers 
+            = GroupPowers.AllowSetHome 
+                | GroupPowers.Accountable 
+                | GroupPowers.JoinChat 
+                | GroupPowers.AllowVoiceChat 
+                | GroupPowers.ReceiveNotices 
+                | GroupPowers.StartProposal 
+                | GroupPowers.VoteOnProposal;
+
+        // Would this be cleaner as (GroupPowers)ulong.MaxValue?
+        public const GroupPowers DefaultOwnerPowers 
+            = GroupPowers.Accountable
+                | GroupPowers.AllowEditLand
+                | GroupPowers.AllowFly
+                | GroupPowers.AllowLandmark
+                | GroupPowers.AllowRez
+                | GroupPowers.AllowSetHome
+                | GroupPowers.AllowVoiceChat
+                | GroupPowers.AssignMember
+                | GroupPowers.AssignMemberLimited
+                | GroupPowers.ChangeActions
+                | GroupPowers.ChangeIdentity
+                | GroupPowers.ChangeMedia
+                | GroupPowers.ChangeOptions
+                | GroupPowers.CreateRole
+                | GroupPowers.DeedObject
+                | GroupPowers.DeleteRole
+                | GroupPowers.Eject
+                | GroupPowers.FindPlaces
+                | GroupPowers.Invite
+                | GroupPowers.JoinChat
+                | GroupPowers.LandChangeIdentity
+                | GroupPowers.LandDeed
+                | GroupPowers.LandDivideJoin
+                | GroupPowers.LandEdit
+                | GroupPowers.LandEjectAndFreeze
+                | GroupPowers.LandGardening
+                | GroupPowers.LandManageAllowed
+                | GroupPowers.LandManageBanned
+                | GroupPowers.LandManagePasses
+                | GroupPowers.LandOptions
+                | GroupPowers.LandRelease
+                | GroupPowers.LandSetSale
+                | GroupPowers.ModerateChat
+                | GroupPowers.ObjectManipulate
+                | GroupPowers.ObjectSetForSale
+                | GroupPowers.ReceiveNotices
+                | GroupPowers.RemoveMember
+                | GroupPowers.ReturnGroupOwned
+                | GroupPowers.ReturnGroupSet
+                | GroupPowers.ReturnNonGroup
+                | GroupPowers.RoleProperties
+                | GroupPowers.SendNotices
+                | GroupPowers.SetLandingPoint
+                | GroupPowers.StartProposal
+                | GroupPowers.VoteOnProposal;
 
         private bool m_connectorEnabled = false;
 
@@ -219,59 +268,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
             param["AllowPublish"] = allowPublish == true ? 1 : 0;
             param["MaturePublish"] = maturePublish == true ? 1 : 0;
             param["FounderID"] = founderID.ToString();
-            param["EveryonePowers"] = ((ulong)m_DefaultEveryonePowers).ToString();
+            param["EveryonePowers"] = ((ulong)DefaultEveryonePowers).ToString();
             param["OwnerRoleID"] = OwnerRoleID.ToString();
-
-            // Would this be cleaner as (GroupPowers)ulong.MaxValue;
-            GroupPowers OwnerPowers = GroupPowers.Accountable
-                                    | GroupPowers.AllowEditLand
-                                    | GroupPowers.AllowFly
-                                    | GroupPowers.AllowLandmark
-                                    | GroupPowers.AllowRez
-                                    | GroupPowers.AllowSetHome
-                                    | GroupPowers.AllowVoiceChat
-                                    | GroupPowers.AssignMember
-                                    | GroupPowers.AssignMemberLimited
-                                    | GroupPowers.ChangeActions
-                                    | GroupPowers.ChangeIdentity
-                                    | GroupPowers.ChangeMedia
-                                    | GroupPowers.ChangeOptions
-                                    | GroupPowers.CreateRole
-                                    | GroupPowers.DeedObject
-                                    | GroupPowers.DeleteRole
-                                    | GroupPowers.Eject
-                                    | GroupPowers.FindPlaces
-                                    | GroupPowers.Invite
-                                    | GroupPowers.JoinChat
-                                    | GroupPowers.LandChangeIdentity
-                                    | GroupPowers.LandDeed
-                                    | GroupPowers.LandDivideJoin
-                                    | GroupPowers.LandEdit
-                                    | GroupPowers.LandEjectAndFreeze
-                                    | GroupPowers.LandGardening
-                                    | GroupPowers.LandManageAllowed
-                                    | GroupPowers.LandManageBanned
-                                    | GroupPowers.LandManagePasses
-                                    | GroupPowers.LandOptions
-                                    | GroupPowers.LandRelease
-                                    | GroupPowers.LandSetSale
-                                    | GroupPowers.ModerateChat
-                                    | GroupPowers.ObjectManipulate
-                                    | GroupPowers.ObjectSetForSale
-                                    | GroupPowers.ReceiveNotices
-                                    | GroupPowers.RemoveMember
-                                    | GroupPowers.ReturnGroupOwned
-                                    | GroupPowers.ReturnGroupSet
-                                    | GroupPowers.ReturnNonGroup
-                                    | GroupPowers.RoleProperties
-                                    | GroupPowers.SendNotices
-                                    | GroupPowers.SetLandingPoint
-                                    | GroupPowers.StartProposal
-                                    | GroupPowers.VoteOnProposal;
-            param["OwnersPowers"] = ((ulong)OwnerPowers).ToString();
-
-
-
+            param["OwnersPowers"] = ((ulong)DefaultOwnerPowers).ToString();
 
             Hashtable respData = XmlRpcCall(requestingAgentID, "groups.createGroup", param);
 
@@ -612,8 +611,6 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
             }
 
             return Roles;
-
-
         }
 
         public List<GroupRolesData> GetGroupRoles(UUID requestingAgentID, UUID GroupID)
@@ -676,7 +673,6 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
             }
 
             return members;
-
         }
 
         public List<GroupRoleMembersData> GetGroupRoleMembers(UUID requestingAgentID, UUID GroupID)
@@ -727,9 +723,10 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
                     values.Add(data);
                 }
             }
-            return values;
 
+            return values;
         }
+
         public GroupNoticeInfo GetGroupNotice(UUID requestingAgentID, UUID noticeID)
         {
             Hashtable param = new Hashtable();
@@ -737,7 +734,6 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
 
             Hashtable respData = XmlRpcCall(requestingAgentID, "groups.getGroupNotice", param);
 
-
             if (respData.Contains("error"))
             {
                 return null;
@@ -761,6 +757,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
 
             return data;
         }
+
         public void AddGroupNotice(UUID requestingAgentID, UUID groupID, UUID noticeID, string fromName, string subject, string message, byte[] binaryBucket)
         {
             string binBucket = OpenMetaverse.Utils.BytesToHexString(binaryBucket, "");
@@ -777,8 +774,6 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
             XmlRpcCall(requestingAgentID, "groups.addGroupNotice", param);
         }
 
-
-
         #endregion
 
         #region GroupSessionTracking
diff --git a/OpenSim/Region/OptionalModules/Example/WebSocketEchoTest/WebSocketEchoModule.cs b/OpenSim/Region/OptionalModules/Example/WebSocketEchoTest/WebSocketEchoModule.cs
new file mode 100644
index 0000000..112ba4e
--- /dev/null
+++ b/OpenSim/Region/OptionalModules/Example/WebSocketEchoTest/WebSocketEchoModule.cs
@@ -0,0 +1,174 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using OpenSim.Framework.Servers;
+using Mono.Addins;
+using log4net;
+using Nini.Config;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Framework.Scenes;
+
+using OpenSim.Framework.Servers.HttpServer;
+
+
+namespace OpenSim.Region.OptionalModules.WebSocketEchoModule
+{
+    
+    [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "WebSocketEchoModule")]
+    public class WebSocketEchoModule : ISharedRegionModule
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        private bool enabled;
+        public string Name { get { return "WebSocketEchoModule"; } }
+
+        public Type ReplaceableInterface { get { return null; } }
+
+
+        private HashSet<WebSocketHttpServerHandler> _activeHandlers = new HashSet<WebSocketHttpServerHandler>();
+
+        public void Initialise(IConfigSource pConfig)
+        {
+            enabled =(pConfig.Configs["WebSocketEcho"] != null);
+            if (enabled)
+                m_log.DebugFormat("[WebSocketEchoModule]: INITIALIZED MODULE");
+        }
+
+        /// <summary>
+        /// This method sets up the callback to WebSocketHandlerCallback below when a HTTPRequest comes in for /echo
+        /// </summary>
+        public void PostInitialise()
+        {
+            if (enabled)
+                MainServer.Instance.AddWebSocketHandler("/echo", WebSocketHandlerCallback);
+        }
+
+        // This gets called by BaseHttpServer and gives us an opportunity to set things on the WebSocket handler before we turn it on
+        public void WebSocketHandlerCallback(string path, WebSocketHttpServerHandler handler)
+        {
+            SubscribeToEvents(handler);
+            handler.SetChunksize(8192);
+            handler.NoDelay_TCP_Nagle = true;
+            handler.HandshakeAndUpgrade();
+        }
+
+        //These are our normal events
+        public void SubscribeToEvents(WebSocketHttpServerHandler handler)
+        {
+            handler.OnClose += HandlerOnOnClose;
+            handler.OnText += HandlerOnOnText;
+            handler.OnUpgradeCompleted += HandlerOnOnUpgradeCompleted;
+            handler.OnData += HandlerOnOnData;
+            handler.OnPong += HandlerOnOnPong;
+        }
+
+        public void UnSubscribeToEvents(WebSocketHttpServerHandler handler)
+        {
+            handler.OnClose -= HandlerOnOnClose;
+            handler.OnText -= HandlerOnOnText;
+            handler.OnUpgradeCompleted -= HandlerOnOnUpgradeCompleted;
+            handler.OnData -= HandlerOnOnData;
+            handler.OnPong -= HandlerOnOnPong;
+        }
+
+        private void HandlerOnOnPong(object sender, PongEventArgs pongdata)
+        {
+            m_log.Info("[WebSocketEchoModule]: Got a pong..  ping time: " + pongdata.PingResponseMS);
+        }
+
+        private void HandlerOnOnData(object sender, WebsocketDataEventArgs data)
+        {
+            WebSocketHttpServerHandler obj = sender as WebSocketHttpServerHandler;
+            obj.SendData(data.Data);
+            m_log.Info("[WebSocketEchoModule]: We received a bunch of ugly non-printable bytes");
+            obj.SendPingCheck();
+        }
+
+        
+        private void HandlerOnOnUpgradeCompleted(object sender, UpgradeCompletedEventArgs completeddata)
+        {
+            WebSocketHttpServerHandler obj = sender as WebSocketHttpServerHandler;
+            _activeHandlers.Add(obj);
+        }
+
+        private void HandlerOnOnText(object sender, WebsocketTextEventArgs text)
+        {
+            WebSocketHttpServerHandler obj = sender as WebSocketHttpServerHandler;
+            obj.SendMessage(text.Data);
+            m_log.Info("[WebSocketEchoModule]: We received this: " + text.Data);
+        }
+
+        // Remove the references to our handler
+        private void HandlerOnOnClose(object sender, CloseEventArgs closedata)
+        {
+            WebSocketHttpServerHandler obj = sender as WebSocketHttpServerHandler;
+            UnSubscribeToEvents(obj);
+
+            lock (_activeHandlers)
+                _activeHandlers.Remove(obj);
+            obj.Dispose();
+        }
+
+        // Shutting down..  so shut down all sockets.   
+        // Note..    this should be done outside of an ienumerable if you're also hook to the close event.
+        public void Close()
+        {
+            if (!enabled)
+                return;
+        
+            // We convert this to a for loop so we're not in in an IEnumerable when the close 
+            //call triggers an event which then removes item from _activeHandlers that we're enumerating
+            WebSocketHttpServerHandler[] items = new WebSocketHttpServerHandler[_activeHandlers.Count];
+            _activeHandlers.CopyTo(items);
+
+            for (int i = 0; i < items.Length; i++)
+            {
+                items[i].Close(string.Empty);
+                items[i].Dispose();
+            }
+            _activeHandlers.Clear();
+            MainServer.Instance.RemoveWebSocketHandler("/echo");
+        }
+
+        public void AddRegion(Scene scene)
+        {
+            m_log.DebugFormat("[WebSocketEchoModule]: REGION {0} ADDED", scene.RegionInfo.RegionName);
+        }
+
+        public void RemoveRegion(Scene scene)
+        {
+            m_log.DebugFormat("[WebSocketEchoModule]: REGION {0} REMOVED", scene.RegionInfo.RegionName);
+        }
+
+        public void RegionLoaded(Scene scene)
+        {
+            m_log.DebugFormat("[WebSocketEchoModule]: REGION {0} LOADED", scene.RegionInfo.RegionName);
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/OptionalModules/PhysicsParameters/PhysicsParameters.cs b/OpenSim/Region/OptionalModules/PhysicsParameters/PhysicsParameters.cs
index 40f7fbc..3083a33 100755
--- a/OpenSim/Region/OptionalModules/PhysicsParameters/PhysicsParameters.cs
+++ b/OpenSim/Region/OptionalModules/PhysicsParameters/PhysicsParameters.cs
@@ -146,7 +146,7 @@ namespace OpenSim.Region.OptionalModules.PhysicsParameters
                 {
                     foreach (PhysParameterEntry ppe in physScene.GetParameterList())
                     {
-                        float val = 0.0f;
+                        string val = string.Empty;
                         if (physScene.GetPhysicsParameter(ppe.name, out val))
                         {
                             WriteOut("  {0}/{1} = {2}", scene.RegionInfo.RegionName, ppe.name, val);
@@ -159,7 +159,7 @@ namespace OpenSim.Region.OptionalModules.PhysicsParameters
                 }
                 else
                 {
-                    float val = 0.0f;
+                    string val = string.Empty;
                     if (physScene.GetPhysicsParameter(parm, out val))
                     {
                         WriteOut("  {0}/{1} = {2}", scene.RegionInfo.RegionName, parm, val);
@@ -185,21 +185,12 @@ namespace OpenSim.Region.OptionalModules.PhysicsParameters
                 return;
             }
             string parm = "xxx";
-            float val = 0f;
+            string valparm = String.Empty;
             uint localID = (uint)PhysParameterEntry.APPLY_TO_NONE;  // set default value
             try
             {
                 parm = cmdparms[2];
-                string valparm = cmdparms[3].ToLower();
-                if (valparm == "true")
-                    val = PhysParameterEntry.NUMERIC_TRUE;
-                else
-                {
-                    if (valparm == "false")
-                        val = PhysParameterEntry.NUMERIC_FALSE;
-                    else
-                        val = float.Parse(valparm, Culture.NumberFormatInfo);
-                }
+                valparm = cmdparms[3].ToLower();
                 if (cmdparms.Length > 4)
                 {
                     if (cmdparms[4].ToLower() == "all")
@@ -224,7 +215,7 @@ namespace OpenSim.Region.OptionalModules.PhysicsParameters
             IPhysicsParameters physScene = scene.PhysicsScene as IPhysicsParameters;
             if (physScene != null)
             {
-                if (!physScene.SetPhysicsParameter(parm, val, localID))
+                if (!physScene.SetPhysicsParameter(parm, valparm, localID))
                 {
                     WriteError("Failed set of parameter '{0}' for region '{1}'", parm, scene.RegionInfo.RegionName);
                 }
diff --git a/OpenSim/Region/OptionalModules/Properties/AssemblyInfo.cs b/OpenSim/Region/OptionalModules/Properties/AssemblyInfo.cs
index 217b2d5..0065531 100644
--- a/OpenSim/Region/OptionalModules/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/OptionalModules/Properties/AssemblyInfo.cs
@@ -30,7 +30,7 @@ using Mono.Addins;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
 
 [assembly: Addin("OpenSim.Region.OptionalModules", "0.1")]
diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
new file mode 100755
index 0000000..6009dc5
--- /dev/null
+++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
@@ -0,0 +1,171 @@
+/*
+ * 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 copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+
+using OpenSim.Framework;
+using OpenSim.Region.Framework;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.CoreModules;
+
+using Mono.Addins;
+using Nini.Config;
+using log4net;
+using OpenMetaverse;
+
+namespace OpenSim.Region.OptionalModules.Scripting
+{
+[Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule")]
+public class ExtendedPhysics : INonSharedRegionModule
+{
+    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+    private static string LogHeader = "[EXTENDED PHYSICS]";
+
+    private IConfig Configuration { get; set; }
+    private bool Enabled { get; set; }
+    private Scene BaseScene { get; set; }
+    private IScriptModuleComms Comms { get; set; }
+
+    #region INonSharedRegionModule
+
+    public string Name { get { return this.GetType().Name; } }
+
+    public void Initialise(IConfigSource config)
+    {
+        BaseScene = null;
+        Enabled = false;
+        Configuration = null;
+        Comms = null;
+
+        try
+        {
+            if ((Configuration = config.Configs["ExtendedPhysics"]) != null)
+            {
+                Enabled = Configuration.GetBoolean("Enabled", Enabled);
+            }
+        }
+        catch (Exception e)
+        {
+            m_log.ErrorFormat("{0} Initialization error: {0}", LogHeader, e);
+        }
+
+        m_log.InfoFormat("{0} module {1} enabled", LogHeader, (Enabled ? "is" : "is not"));
+    }
+
+    public void Close()
+    {
+        if (BaseScene != null)
+        {
+            BaseScene.EventManager.OnObjectAddedToScene -= EventManager_OnObjectAddedToScene;
+            BaseScene.EventManager.OnSceneObjectPartUpdated -= EventManager_OnSceneObjectPartUpdated;
+            BaseScene = null;
+        }
+    }
+
+    public void AddRegion(Scene scene)
+    {
+    }
+
+    public void RemoveRegion(Scene scene)
+    {
+        if (BaseScene != null && BaseScene == scene)
+        {
+            Close();
+        }
+    }
+
+    public void RegionLoaded(Scene scene)
+    {
+        if (!Enabled) return;
+
+        BaseScene = scene;
+
+        Comms = BaseScene.RequestModuleInterface<IScriptModuleComms>();
+        if (Comms == null)
+        {
+            m_log.WarnFormat("{0} ScriptModuleComms interface not defined", LogHeader);
+            Enabled = false;
+
+            return;
+        }
+ 
+        // Register as LSL functions all the [ScriptInvocation] marked methods.
+        Comms.RegisterScriptInvocations(this);
+
+        // When an object is modified, we might need to update its extended physics parameters
+        BaseScene.EventManager.OnObjectAddedToScene += EventManager_OnObjectAddedToScene;
+        BaseScene.EventManager.OnSceneObjectPartUpdated += EventManager_OnSceneObjectPartUpdated;
+
+    }
+
+    public Type ReplaceableInterface { get { return null; } }
+
+    #endregion // INonSharedRegionModule
+
+    private void EventManager_OnObjectAddedToScene(SceneObjectGroup obj)
+    {
+        throw new NotImplementedException();
+    }
+
+    // Event generated when some property of a prim changes.
+    private void EventManager_OnSceneObjectPartUpdated(SceneObjectPart sop, bool isFullUpdate)
+    {
+    }
+
+    [ScriptConstant]
+    public static int PHYS_CENTER_OF_MASS =     1 << 0;
+
+    [ScriptConstant]
+    public static int PHYS_LINKSET_TYPE_CONSTRAINT  = 1;
+    [ScriptConstant]
+    public static int PHYS_LINKSET_TYPE_COMPOUND    = 2;
+    [ScriptConstant]
+    public static int PHYS_LINKSET_TYPE_MANUAL      = 3;
+
+    [ScriptInvocation]
+    public string physGetEngineType(UUID hostID, UUID scriptID)
+    {
+        string ret = string.Empty;
+
+        if (BaseScene.PhysicsScene != null)
+        {
+            ret = BaseScene.PhysicsScene.EngineType;
+        }
+
+        return ret;
+    }
+
+    [ScriptInvocation]
+    public void physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
+    {
+    }
+}
+}
diff --git a/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStore.cs b/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStore.cs
index 34894ba..ca3989a 100644
--- a/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStore.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStore.cs
@@ -49,7 +49,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         private static readonly ILog m_log =
             LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
-        private OSD m_ValueStore;
+        protected virtual OSD ValueStore { get; set; }
 
         protected class TakeValueCallbackClass
         {
@@ -68,25 +68,106 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         protected List<TakeValueCallbackClass> m_TakeStore;
         protected List<TakeValueCallbackClass> m_ReadStore;
         
+        // add separators for quoted paths and array references
+        protected static Regex m_ParsePassOne = new Regex("({[^}]+}|\\[[0-9]+\\]|\\[\\+\\])");
 
+        // add quotes to bare identifiers which are limited to alphabetic characters
+        protected static Regex m_ParsePassThree = new Regex("(?<!{[^}]*)\\.([a-zA-Z]+)(?=\\.)");
+
+        // remove extra separator characters
+        protected static Regex m_ParsePassFour = new Regex("\\.+");
+
+        // expression used to validate the full path, this is canonical representation
+        protected static Regex m_ValidatePath = new Regex("^\\.(({[^}]+}|\\[[0-9]+\\]|\\[\\+\\])\\.)*$");
+
+        // expression used to match path components
+        protected static Regex m_PathComponent = new Regex("\\.({[^}]+}|\\[[0-9]+\\]|\\[\\+\\])");
+
+        // extract the internals of an array reference
+        protected static Regex m_SimpleArrayPattern = new Regex("\\[([0-9]+)\\]");
+        protected static Regex m_ArrayPattern = new Regex("\\[([0-9]+|\\+)\\]");
+
+        // extract the internals of a has reference
+        protected static Regex m_HashPattern = new Regex("{([^}]+)}");
+
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// This is a simple estimator for the size of the stored data, it
+        /// is not precise, but should be close enough to implement reasonable
+        /// limits on the storage space used
+        /// </summary>
+        // -----------------------------------------------------------------
+        public int StringSpace { get; set; }
+        
         // -----------------------------------------------------------------
         /// <summary>
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        public JsonStore() : this("") {}
+        public static bool CanonicalPathExpression(string ipath, out string opath)
+        {
+            Stack<string> path;
+            if (! ParsePathExpression(ipath,out path))
+            {
+                opath = "";
+                return false;
+            }
+
+            opath = PathExpressionToKey(path);
+            return true;
+        }
         
-        public JsonStore(string value)
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
+        public JsonStore() 
         {
+            StringSpace = 0;
             m_TakeStore = new List<TakeValueCallbackClass>();
             m_ReadStore = new List<TakeValueCallbackClass>();
-           
+        }
+
+        public JsonStore(string value) : this()
+        {
+            // This is going to throw an exception if the value is not
+            // a valid JSON chunk. Calling routines should catch the 
+            // exception and handle it appropriately
             if (String.IsNullOrEmpty(value))
-                m_ValueStore = new OSDMap();
+                ValueStore = new OSDMap();
             else
-                m_ValueStore = OSDParser.DeserializeJson(value);
+                ValueStore = OSDParser.DeserializeJson(value);
         }
+        
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
+        public JsonStoreNodeType PathType(string expr)
+        {
+            Stack<string> path;
+            if (! ParsePathExpression(expr,out path))
+                return JsonStoreNodeType.Undefined;
+            
+            OSD result = ProcessPathExpression(ValueStore,path);
 
+            if (result == null)
+                return JsonStoreNodeType.Undefined;
+            
+            if (result is OSDMap)
+                return JsonStoreNodeType.Object;
+            
+            if (result is OSDArray)
+                return JsonStoreNodeType.Array;
+            
+            if (OSDBaseType(result.Type))
+                return JsonStoreNodeType.Value;
+            
+            return JsonStoreNodeType.Undefined;
+        }
+        
         // -----------------------------------------------------------------
         /// <summary>
         /// 
@@ -94,13 +175,16 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         // -----------------------------------------------------------------
         public bool TestPath(string expr, bool useJson)
         {
-            Stack<string> path = ParsePathExpression(expr);
-            OSD result = ProcessPathExpression(m_ValueStore,path);
+            Stack<string> path;
+            if (! ParsePathExpression(expr,out path))
+                return false;
+            
+            OSD result = ProcessPathExpression(ValueStore,path);
 
             if (result == null)
                 return false;
             
-            if (useJson || result.Type == OSDType.String)
+            if (useJson || OSDBaseType(result.Type))
                 return true;
             
             return false;
@@ -111,10 +195,37 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
+        public int ArrayLength(string expr)
+        {
+            Stack<string> path;
+            if (! ParsePathExpression(expr,out path))
+                return -1;
+
+            OSD result = ProcessPathExpression(ValueStore,path);
+            if (result != null && result.Type == OSDType.Array)
+            {
+                OSDArray arr = result as OSDArray;
+                return arr.Count;
+            }
+
+            return -1;
+        }
+
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
         public bool GetValue(string expr, out string value, bool useJson)
         {
-            Stack<string> path = ParsePathExpression(expr);
-            OSD result = ProcessPathExpression(m_ValueStore,path);
+            Stack<string> path;
+            if (! ParsePathExpression(expr,out path))
+            {
+                value = "";
+                return false;
+            }
+
+            OSD result = ProcessPathExpression(ValueStore,path);
             return ConvertOutputValue(result,out value,useJson); 
         }
      
@@ -136,7 +247,37 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         // -----------------------------------------------------------------
         public bool SetValue(string expr, string value, bool useJson)
         {
-            OSD ovalue = useJson ? OSDParser.DeserializeJson(value) :  new OSDString(value);
+            OSD ovalue;
+
+            // One note of caution... if you use an empty string in the
+            // structure it will be assumed to be a default value and will
+            // not be seialized in the json
+
+            if (useJson)
+            {
+                // There doesn't appear to be a good way to determine if the
+                // value is valid Json other than to let the parser crash
+                try 
+                {
+                    ovalue = OSDParser.DeserializeJson(value);
+                }
+                catch (Exception e)
+                {
+                    if (value.StartsWith("'") && value.EndsWith("'"))
+                    {
+                        ovalue = new OSDString(value.Substring(1,value.Length - 2));
+                    }
+                    else
+                    {
+                        return false;
+                    }
+                }
+            }
+            else
+            {
+                ovalue = new OSDString(value);
+            }
+            
             return SetValueFromExpression(expr,ovalue);
         }
         
@@ -147,10 +288,13 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         // -----------------------------------------------------------------
         public bool TakeValue(string expr, bool useJson, TakeValueCallback cback)
         {
-            Stack<string> path = ParsePathExpression(expr);
+            Stack<string> path;
+            if (! ParsePathExpression(expr,out path))
+                return false;
+
             string pexpr = PathExpressionToKey(path);
 
-            OSD result = ProcessPathExpression(m_ValueStore,path);
+            OSD result = ProcessPathExpression(ValueStore,path);
             if (result == null)
             {
                 m_TakeStore.Add(new TakeValueCallbackClass(pexpr,useJson,cback));
@@ -178,10 +322,13 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         // -----------------------------------------------------------------
         public bool ReadValue(string expr, bool useJson, TakeValueCallback cback)
         {
-            Stack<string> path = ParsePathExpression(expr);
+            Stack<string> path;
+            if (! ParsePathExpression(expr,out path))
+                return false;
+
             string pexpr = PathExpressionToKey(path);
 
-            OSD result = ProcessPathExpression(m_ValueStore,path);
+            OSD result = ProcessPathExpression(ValueStore,path);
             if (result == null)
             {
                 m_ReadStore.Add(new TakeValueCallbackClass(pexpr,useJson,cback));
@@ -208,25 +355,30 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         // -----------------------------------------------------------------
         protected bool SetValueFromExpression(string expr, OSD ovalue)
         {
-            Stack<string> path = ParsePathExpression(expr);
+            Stack<string> path;
+            if (! ParsePathExpression(expr,out path))
+                return false;
+
             if (path.Count == 0)
             {
-                m_ValueStore = ovalue;
+                ValueStore = ovalue;
+                StringSpace = 0;
                 return true;
             }
 
+            // pkey will be the final element in the path, we pull it out here to make sure
+            // that the assignment works correctly
             string pkey = path.Pop();
             string pexpr = PathExpressionToKey(path);
             if (pexpr != "")
                 pexpr += ".";
 
-            OSD result = ProcessPathExpression(m_ValueStore,path);
+            OSD result = ProcessPathExpression(ValueStore,path);
             if (result == null)
                 return false;
 
-            Regex aPattern = new Regex("\\[([0-9]+|\\+)\\]");
-            MatchCollection amatches = aPattern.Matches(pkey,0);
-            
+            // Check pkey, the last element in the path, for and extract array references
+            MatchCollection amatches = m_ArrayPattern.Matches(pkey,0);
             if (amatches.Count > 0)
             {
                 if (result.Type != OSDType.Array)
@@ -242,8 +394,13 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
                 {
                     string npkey = String.Format("[{0}]",amap.Count);
 
-                    amap.Add(ovalue);
-                    InvokeNextCallback(pexpr + npkey);
+                    if (ovalue != null)
+                    {
+                        StringSpace += ComputeSizeOf(ovalue);
+
+                        amap.Add(ovalue);
+                        InvokeNextCallback(pexpr + npkey);
+                    }
                     return true;
                 }
 
@@ -251,9 +408,14 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
                 if (0 <= aval && aval < amap.Count)
                 {
                     if (ovalue == null)
+                    {
+                        StringSpace -= ComputeSizeOf(amap[aval]);
                         amap.RemoveAt(aval);
+                    }
                     else
                     {
+                        StringSpace -= ComputeSizeOf(amap[aval]);
+                        StringSpace += ComputeSizeOf(ovalue);
                         amap[aval] = ovalue;
                         InvokeNextCallback(pexpr + pkey);
                     }
@@ -263,9 +425,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
                 return false;
             }
 
-            Regex hPattern = new Regex("{([^}]+)}");
-            MatchCollection hmatches = hPattern.Matches(pkey,0);
-            
+            // Check for and extract hash references
+            MatchCollection hmatches = m_HashPattern.Matches(pkey,0);
             if (hmatches.Count > 0)
             {
                 Match match = hmatches[0];
@@ -274,16 +435,27 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
                 
                 if (result is OSDMap)
                 {
+                    // this is the assignment case
                     OSDMap hmap = result as OSDMap;
                     if (ovalue != null)
                     {
+                        StringSpace -= ComputeSizeOf(hmap[hkey]);
+                        StringSpace += ComputeSizeOf(ovalue);
+                        
                         hmap[hkey] = ovalue;
                         InvokeNextCallback(pexpr + pkey);
+                        return true;
                     }
-                    else if (hmap.ContainsKey(hkey))
+
+                    // this is the remove case
+                    if (hmap.ContainsKey(hkey))
+                    {
+                        StringSpace -= ComputeSizeOf(hmap[hkey]);
                         hmap.Remove(hkey);
-                    
-                    return true;
+                        return true;
+                    }
+
+                    return false;
                 }
 
                 return false;
@@ -332,39 +504,33 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// use a stack because we process the path in inverse order later
         /// </summary>
         // -----------------------------------------------------------------
-        protected static Stack<string> ParsePathExpression(string path)
+        protected static bool ParsePathExpression(string expr, out Stack<string> path)
         {
-            Stack<string> m_path = new Stack<string>();
+            path = new Stack<string>();
 
             // add front and rear separators
-            path = "." + path + ".";
+            expr = "." + expr + ".";
             
-            // add separators for quoted paths
-            Regex pass1 = new Regex("{[^}]+}");
-            path = pass1.Replace(path,".$0.",-1,0);
-                
-            // add separators for array references
-            Regex pass2 = new Regex("(\\[[0-9]+\\]|\\[\\+\\])");
-            path = pass2.Replace(path,".$0.",-1,0);
+            // add separators for quoted exprs and array references
+            expr = m_ParsePassOne.Replace(expr,".$1.",-1,0);
                 
             // add quotes to bare identifier
-            Regex pass3 = new Regex("\\.([a-zA-Z]+)");
-            path = pass3.Replace(path,".{$1}",-1,0);
+            expr = m_ParsePassThree.Replace(expr,".{$1}",-1,0);
                 
             // remove extra separators
-            Regex pass4 = new Regex("\\.+");
-            path = pass4.Replace(path,".",-1,0);
+            expr = m_ParsePassFour.Replace(expr,".",-1,0);
 
-            Regex validate = new Regex("^\\.(({[^}]+}|\\[[0-9]+\\]|\\[\\+\\])\\.)+$");
-            if (validate.IsMatch(path))
+            // validate the results (catches extra quote characters for example)
+            if (m_ValidatePath.IsMatch(expr))
             {
-                Regex parser = new Regex("\\.({[^}]+}|\\[[0-9]+\\]|\\[\\+\\]+)");
-                MatchCollection matches = parser.Matches(path,0);
+                MatchCollection matches = m_PathComponent.Matches(expr,0);
                 foreach (Match match in matches)
-                    m_path.Push(match.Groups[1].Value);
+                    path.Push(match.Groups[1].Value);
+
+                return true;
             }
 
-            return m_path;
+            return false;
         }
 
         // -----------------------------------------------------------------
@@ -385,9 +551,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
                 return null;
             
             // ---------- Check for an array index ----------
-            Regex aPattern = new Regex("\\[([0-9]+)\\]");
-            MatchCollection amatches = aPattern.Matches(pkey,0);
-            
+            MatchCollection amatches = m_SimpleArrayPattern.Matches(pkey,0);
+
             if (amatches.Count > 0)
             {
                 if (rmap.Type != OSDType.Array)
@@ -410,9 +575,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
             }
 
             // ---------- Check for a hash index ----------
-            Regex hPattern = new Regex("{([^}]+)}");
-            MatchCollection hmatches = hPattern.Matches(pkey,0);
-            
+            MatchCollection hmatches = m_HashPattern.Matches(pkey,0);
+
             if (hmatches.Count > 0)
             {
                 if (rmap.Type != OSDType.Map)
@@ -456,14 +620,14 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
                 // The path pointed to an intermediate hash structure
                 if (result.Type == OSDType.Map)
                 {
-                    value = OSDParser.SerializeJsonString(result as OSDMap);
+                    value = OSDParser.SerializeJsonString(result as OSDMap,true);
                     return true;
                 }
 
                 // The path pointed to an intermediate hash structure
                 if (result.Type == OSDType.Array)
                 {
-                    value = OSDParser.SerializeJsonString(result as OSDArray);
+                    value = OSDParser.SerializeJsonString(result as OSDArray,true);
                     return true;
                 }
 
@@ -471,7 +635,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
                 return true;
             }
 
-            if (result.Type == OSDType.String)
+            if (OSDBaseType(result.Type))
             {
                 value = result.AsString(); 
                 return true;
@@ -496,5 +660,91 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
             
             return pkey;
         }
+
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
+        protected static bool OSDBaseType(OSDType type)
+        {
+            // Should be the list of base types for which AsString() returns
+            // something useful
+            if (type == OSDType.Boolean)
+                return true;
+            if (type == OSDType.Integer)
+                return true;
+            if (type == OSDType.Real)
+                return true;
+            if (type == OSDType.String)
+                return true;
+            if (type == OSDType.UUID)
+                return true;
+            if (type == OSDType.Date)
+                return true;
+            if (type == OSDType.URI)
+                return true;
+
+            return false;
+        }
+
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
+        protected static int ComputeSizeOf(OSD value)
+        {
+            string sval;
+
+            if (ConvertOutputValue(value,out sval,true))
+                return sval.Length;
+
+            return 0;
+        }
+    }
+
+    // -----------------------------------------------------------------
+    /// <summary>
+    /// </summary>
+    // -----------------------------------------------------------------
+    public class JsonObjectStore : JsonStore
+    {
+        private static readonly ILog m_log =
+            LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private Scene m_scene;
+        private UUID m_objectID;
+
+        protected override OSD ValueStore 
+        {
+            get
+            {
+                SceneObjectPart sop = m_scene.GetSceneObjectPart(m_objectID);
+                if (sop == null)
+                {
+                    // This is bad
+                    return null;
+                }
+                
+                return sop.DynAttrs.TopLevelMap;
+            }
+
+            // cannot set the top level
+            set
+            {
+                m_log.InfoFormat("[JsonStore] cannot set top level value in object store");
+            }
+        }
+
+        public JsonObjectStore(Scene scene, UUID oid) : base()
+        {
+            m_scene = scene;
+            m_objectID = oid;
+
+            // the size limit is imposed on whatever is already in the store
+            StringSpace = ComputeSizeOf(ValueStore);
+        }
     }
+    
 }
diff --git a/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreModule.cs b/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreModule.cs
index e68764a..eec86ef 100644
--- a/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreModule.cs
@@ -54,6 +54,9 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
 
         private IConfig m_config = null;
         private bool m_enabled = false;
+        private bool m_enableObjectStore = false;
+        private int m_maxStringSpace = Int32.MaxValue;
+
         private Scene m_scene = null;
 
         private Dictionary<UUID,JsonStore> m_JsonValueStore;
@@ -90,15 +93,19 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
                 }
 
                 m_enabled = m_config.GetBoolean("Enabled", m_enabled);
+                m_enableObjectStore = m_config.GetBoolean("EnableObjectStore", m_enableObjectStore);
+                m_maxStringSpace = m_config.GetInt("MaxStringSpace", m_maxStringSpace);
+                if (m_maxStringSpace == 0)
+                    m_maxStringSpace = Int32.MaxValue;
             }
             catch (Exception e)
             {
-                m_log.ErrorFormat("[JsonStore] initialization error: {0}",e.Message);
+                m_log.Error("[JsonStore]: initialization error: {0}", e);
                 return;
             }
 
             if (m_enabled)
-                m_log.DebugFormat("[JsonStore] module is enabled");
+                m_log.DebugFormat("[JsonStore]: module is enabled");
         }
 
         // -----------------------------------------------------------------
@@ -175,6 +182,35 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
+        public bool AttachObjectStore(UUID objectID)
+        {
+            if (! m_enabled) return false;
+            if (! m_enableObjectStore) return false;
+
+            SceneObjectPart sop = m_scene.GetSceneObjectPart(objectID);
+            if (sop == null)
+            {
+                m_log.ErrorFormat("[JsonStore] unable to attach to unknown object; {0}", objectID);
+                return false;
+            }
+
+            lock (m_JsonValueStore)
+            {
+                if (m_JsonValueStore.ContainsKey(objectID))
+                    return true;
+                
+                JsonStore map = new JsonObjectStore(m_scene,objectID);
+                m_JsonValueStore.Add(objectID,map);
+            }
+            
+            return true;
+        }
+        
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
         public bool CreateStore(string value, ref UUID result)
         {
             if (result == UUID.Zero)
@@ -191,7 +227,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
             }
             catch (Exception e)
             {
-                m_log.InfoFormat("[JsonStore] Unable to initialize store from {0}; {1}",value,e.Message);
+                m_log.ErrorFormat("[JsonStore]: Unable to initialize store from {0}", value);
                 return false;
             }
 
@@ -211,7 +247,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
             if (! m_enabled) return false;
 
             lock (m_JsonValueStore)
-                m_JsonValueStore.Remove(storeID);
+                return m_JsonValueStore.Remove(storeID);
             
             return true;
         }
@@ -221,6 +257,51 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
+        public bool TestStore(UUID storeID)
+        {
+            if (! m_enabled) return false;
+
+            lock (m_JsonValueStore)
+                return m_JsonValueStore.ContainsKey(storeID);
+        }
+
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
+        public JsonStoreNodeType PathType(UUID storeID, string path)
+        {
+            if (! m_enabled) return JsonStoreNodeType.Undefined;
+
+            JsonStore map = null;
+            lock (m_JsonValueStore)
+            {
+                if (! m_JsonValueStore.TryGetValue(storeID,out map))
+                {
+                    m_log.InfoFormat("[JsonStore] Missing store {0}",storeID);
+                    return JsonStoreNodeType.Undefined;
+                }
+            }
+            
+            try
+            {
+                lock (map)
+                    return map.PathType(path);
+            }
+            catch (Exception e)
+            {
+                m_log.Error(string.Format("[JsonStore]: Path test failed for {0} in {1}", path, storeID), e);
+            }
+
+            return JsonStoreNodeType.Undefined;
+        }
+
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
         public bool TestPath(UUID storeID, string path, bool useJson)
         {
             if (! m_enabled) return false;
@@ -242,7 +323,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
             }
             catch (Exception e)
             {
-                m_log.InfoFormat("[JsonStore] Path test failed for {0} in {1}; {2}",path,storeID,e.Message);
+                m_log.Error(string.Format("[JsonStore]: Path test failed for {0} in {1}", path, storeID), e);
             }
 
             return false;
@@ -270,12 +351,20 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
             try
             {
                 lock (map)
-                    if (map.SetValue(path,value,useJson))
-                        return true;
+                {
+                    if (map.StringSpace > m_maxStringSpace)
+                    {
+                        m_log.WarnFormat("[JsonStore] {0} exceeded string size; {1} bytes used of {2} limit",
+                                         storeID,map.StringSpace,m_maxStringSpace);
+                        return false;
+                    }
+                    
+                    return map.SetValue(path,value,useJson);
+                }
             }
             catch (Exception e)
             {
-                m_log.InfoFormat("[JsonStore] Unable to assign {0} to {1} in {2}; {3}",value,path,storeID,e.Message);
+                m_log.Error(string.Format("[JsonStore]: Unable to assign {0} to {1} in {2}", value, path, storeID), e);
             }
 
             return false;
@@ -303,12 +392,11 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
             try
             {
                 lock (map)
-                    if (map.RemoveValue(path))
-                        return true;
+                    return map.RemoveValue(path);
             }
             catch (Exception e)
             {
-                m_log.InfoFormat("[JsonStore] Unable to remove {0} in {1}; {2}",path,storeID,e.Message);
+                m_log.Error(string.Format("[JsonStore]: Unable to remove {0} in {1}", path, storeID), e);
             }
 
             return false;
@@ -319,6 +407,37 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
+        public int ArrayLength(UUID storeID, string path)
+        {
+            if (! m_enabled) return -1;
+
+            JsonStore map = null;
+            lock (m_JsonValueStore)
+            {
+                if (! m_JsonValueStore.TryGetValue(storeID,out map))
+                    return -1;
+            }
+
+            try
+            {
+                lock (map)
+                {
+                    return map.ArrayLength(path);
+                }
+            }
+            catch (Exception e)
+            {
+                m_log.Error("[JsonStore]: unable to retrieve value", e);
+            }
+            
+            return -1;
+        }
+
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
         public bool GetValue(UUID storeID, string path, bool useJson, out string value)
         {
             value = String.Empty;
@@ -341,7 +460,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
             }
             catch (Exception e)
             {
-                m_log.InfoFormat("[JsonStore] unable to retrieve value; {0}",e.Message);
+                m_log.Error("[JsonStore]: unable to retrieve value", e);
             }
             
             return false;
@@ -380,7 +499,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
             }
             catch (Exception e)
             {
-                m_log.InfoFormat("[JsonStore] unable to retrieve value; {0}",e.ToString());
+                m_log.Error("[JsonStore] unable to retrieve value", e);
             }
             
             cback(String.Empty);
@@ -419,7 +538,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
             }
             catch (Exception e)
             {
-                m_log.InfoFormat("[JsonStore] unable to retrieve value; {0}",e.ToString());
+                m_log.Error("[JsonStore]: unable to retrieve value", e);
             }
             
             cback(String.Empty);
diff --git a/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreScriptModule.cs b/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreScriptModule.cs
index 0c175ca..3955bff 100644
--- a/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreScriptModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreScriptModule.cs
@@ -39,6 +39,7 @@ using OpenMetaverse.StructuredData;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Framework.Scenes.Scripting;
 using System.Collections.Generic;
 using System.Text.RegularExpressions;
 
@@ -92,12 +93,12 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
             }
             catch (Exception e)
             {
-                m_log.ErrorFormat("[JsonStoreScripts] initialization error: {0}",e.Message);
+                m_log.ErrorFormat("[JsonStoreScripts]: initialization error: {0}", e.Message);
                 return;
             }
 
             if (m_enabled)
-                m_log.DebugFormat("[JsonStoreScripts] module is enabled");
+                m_log.DebugFormat("[JsonStoreScripts]: module is enabled");
         }
 
         // -----------------------------------------------------------------
@@ -150,7 +151,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
                 m_comms = m_scene.RequestModuleInterface<IScriptModuleComms>();
                 if (m_comms == null)
                 {
-                    m_log.ErrorFormat("[JsonStoreScripts] ScriptModuleComms interface not defined");
+                    m_log.ErrorFormat("[JsonStoreScripts]: ScriptModuleComms interface not defined");
                     m_enabled = false;
                     return;
                 }
@@ -158,40 +159,46 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
                 m_store = m_scene.RequestModuleInterface<IJsonStoreModule>();
                 if (m_store == null)
                 {
-                    m_log.ErrorFormat("[JsonStoreScripts] JsonModule interface not defined");
+                    m_log.ErrorFormat("[JsonStoreScripts]: JsonModule interface not defined");
                     m_enabled = false;
                     return;
                 }
-                    
+
                 try
                 {
-                    m_comms.RegisterScriptInvocation(this,"JsonCreateStore");
-                    m_comms.RegisterScriptInvocation(this,"JsonDestroyStore");
+                    m_comms.RegisterScriptInvocations(this);
+                    m_comms.RegisterConstants(this);
+        
+                    // m_comms.RegisterScriptInvocation(this, "JsonCreateStore");
+                    // m_comms.RegisterScriptInvocation(this, "JsonAttachObjectStore");
+                    // m_comms.RegisterScriptInvocation(this, "JsonDestroyStore");
+                    // m_comms.RegisterScriptInvocation(this, "JsonTestStore");
 
-                    m_comms.RegisterScriptInvocation(this,"JsonReadNotecard");
-                    m_comms.RegisterScriptInvocation(this,"JsonWriteNotecard");
+                    // m_comms.RegisterScriptInvocation(this, "JsonReadNotecard");
+                    // m_comms.RegisterScriptInvocation(this, "JsonWriteNotecard");
 
-                    m_comms.RegisterScriptInvocation(this,"JsonTestPath");
-                    m_comms.RegisterScriptInvocation(this,"JsonTestPathJson");
+                    // m_comms.RegisterScriptInvocation(this, "JsonTestPathList");
+                    // m_comms.RegisterScriptInvocation(this, "JsonTestPath");
+                    // m_comms.RegisterScriptInvocation(this, "JsonTestPathJson");
 
-                    m_comms.RegisterScriptInvocation(this,"JsonGetValue");
-                    m_comms.RegisterScriptInvocation(this,"JsonGetValueJson");
+                    // m_comms.RegisterScriptInvocation(this, "JsonGetValue");
+                    // m_comms.RegisterScriptInvocation(this, "JsonGetValueJson");
 
-                    m_comms.RegisterScriptInvocation(this,"JsonTakeValue");
-                    m_comms.RegisterScriptInvocation(this,"JsonTakeValueJson");
+                    // m_comms.RegisterScriptInvocation(this, "JsonTakeValue");
+                    // m_comms.RegisterScriptInvocation(this, "JsonTakeValueJson");
 
-                    m_comms.RegisterScriptInvocation(this,"JsonReadValue");
-                    m_comms.RegisterScriptInvocation(this,"JsonReadValueJson");
+                    // m_comms.RegisterScriptInvocation(this, "JsonReadValue");
+                    // m_comms.RegisterScriptInvocation(this, "JsonReadValueJson");
 
-                    m_comms.RegisterScriptInvocation(this,"JsonSetValue");
-                    m_comms.RegisterScriptInvocation(this,"JsonSetValueJson");
+                    // m_comms.RegisterScriptInvocation(this, "JsonSetValue");
+                    // m_comms.RegisterScriptInvocation(this, "JsonSetValueJson");
 
-                    m_comms.RegisterScriptInvocation(this,"JsonRemoveValue");
+                    // m_comms.RegisterScriptInvocation(this, "JsonRemoveValue");
                 }
                 catch (Exception e)
                 {
                     // See http://opensimulator.org/mantis/view.php?id=5971 for more information
-                    m_log.WarnFormat("[JsonStroreScripts] script method registration failed; {0}",e.Message);
+                    m_log.WarnFormat("[JsonStoreScripts]: script method registration failed; {0}", e.Message);
                     m_enabled = false;
                 }
             }
@@ -208,23 +215,45 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
 
 #endregion
 
+#region ScriptConstantInteface
+
+        [ScriptConstant]
+        public static readonly int JSONTYPEUNDEF = (int)JsonStoreNodeType.Undefined;
+
+        [ScriptConstant]
+        public static readonly int JSONTYPEOBJECT = (int)JsonStoreNodeType.Object;
+
+        [ScriptConstant]
+        public static readonly int JSONTYPEARRAY = (int)JsonStoreNodeType.Array;
+
+        [ScriptConstant]
+        public static readonly int JSONTYPEVALUE = (int)JsonStoreNodeType.Value;
+
+#endregion
+
 #region ScriptInvocationInteface
         // -----------------------------------------------------------------
         /// <summary>
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected void GenerateRuntimeError(string msg)
+        [ScriptInvocation]
+        public UUID JsonAttachObjectStore(UUID hostID, UUID scriptID)
         {
-            throw new Exception("JsonStore Runtime Error: " + msg);
+            UUID uuid = UUID.Zero;
+            if (! m_store.AttachObjectStore(hostID))
+                GenerateRuntimeError("Failed to create Json store");
+            
+            return hostID;
         }
-        
+
         // -----------------------------------------------------------------
         /// <summary>
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected UUID JsonCreateStore(UUID hostID, UUID scriptID, string value)
+        [ScriptInvocation]
+        public UUID JsonCreateStore(UUID hostID, UUID scriptID, string value)
         {
             UUID uuid = UUID.Zero;
             if (! m_store.CreateStore(value, ref uuid))
@@ -238,7 +267,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected int JsonDestroyStore(UUID hostID, UUID scriptID, UUID storeID)
+        [ScriptInvocation]
+        public int JsonDestroyStore(UUID hostID, UUID scriptID, UUID storeID)
         {
             return m_store.DestroyStore(storeID) ? 1 : 0;
         }
@@ -248,10 +278,22 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected UUID JsonReadNotecard(UUID hostID, UUID scriptID, UUID storeID, string path, UUID assetID)
+        [ScriptInvocation]
+        public int JsonTestStore(UUID hostID, UUID scriptID, UUID storeID)
+        {
+            return m_store.TestStore(storeID) ? 1 : 0;
+        }
+
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
+        [ScriptInvocation]
+        public UUID JsonReadNotecard(UUID hostID, UUID scriptID, UUID storeID, string path, string notecardIdentifier)
         {
             UUID reqID = UUID.Random();
-            Util.FireAndForget(delegate(object o) { DoJsonReadNotecard(reqID,hostID,scriptID,storeID,path,assetID); });
+            Util.FireAndForget(o => DoJsonReadNotecard(reqID, hostID, scriptID, storeID, path, notecardIdentifier));
             return reqID;
         }
         
@@ -260,7 +302,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected UUID JsonWriteNotecard(UUID hostID, UUID scriptID, UUID storeID, string path, string name)
+        [ScriptInvocation]
+        public UUID JsonWriteNotecard(UUID hostID, UUID scriptID, UUID storeID, string path, string name)
         {
             UUID reqID = UUID.Random();
             Util.FireAndForget(delegate(object o) { DoJsonWriteNotecard(reqID,hostID,scriptID,storeID,path,name); });
@@ -272,12 +315,40 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected int JsonTestPath(UUID hostID, UUID scriptID, UUID storeID, string path)
+        [ScriptInvocation]
+        public string JsonList2Path(UUID hostID, UUID scriptID, object[] pathlist)
+        {
+            string ipath = ConvertList2Path(pathlist);
+            string opath;
+            
+            if (JsonStore.CanonicalPathExpression(ipath,out opath))
+                return opath;
+
+            // This won't parse if passed to the other routines as opposed to
+            // returning an empty string which is a valid path and would overwrite
+            // the entire store
+            return "**INVALID**";
+        }
+        
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
+        [ScriptInvocation]
+        public int JsonPathType(UUID hostID, UUID scriptID, UUID storeID, string path)
+        {
+            return (int)m_store.PathType(storeID,path);
+        }
+
+        [ScriptInvocation]
+        public int JsonTestPath(UUID hostID, UUID scriptID, UUID storeID, string path)
         {
             return m_store.TestPath(storeID,path,false) ? 1 : 0;
         }
 
-        protected int JsonTestPathJson(UUID hostID, UUID scriptID, UUID storeID, string path)
+        [ScriptInvocation]
+        public int JsonTestPathJson(UUID hostID, UUID scriptID, UUID storeID, string path)
         {
             return m_store.TestPath(storeID,path,true) ? 1 : 0;
         }
@@ -287,12 +358,14 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected int JsonSetValue(UUID hostID, UUID scriptID, UUID storeID, string path, string value)
+        [ScriptInvocation]
+        public int JsonSetValue(UUID hostID, UUID scriptID, UUID storeID, string path, string value)
         {
             return m_store.SetValue(storeID,path,value,false) ? 1 : 0;
         }
 
-        protected int JsonSetValueJson(UUID hostID, UUID scriptID, UUID storeID, string path, string value)
+        [ScriptInvocation]
+        public int JsonSetValueJson(UUID hostID, UUID scriptID, UUID storeID, string path, string value)
         {
             return m_store.SetValue(storeID,path,value,true) ? 1 : 0;
         }
@@ -302,7 +375,8 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected int JsonRemoveValue(UUID hostID, UUID scriptID, UUID storeID, string path)
+        [ScriptInvocation]
+        public int JsonRemoveValue(UUID hostID, UUID scriptID, UUID storeID, string path)
         {
             return m_store.RemoveValue(storeID,path) ? 1 : 0;
         }
@@ -312,14 +386,27 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected string JsonGetValue(UUID hostID, UUID scriptID, UUID storeID, string path)
+        [ScriptInvocation]
+        public int JsonArrayLength(UUID hostID, UUID scriptID, UUID storeID, string path)
+        {
+            return m_store.ArrayLength(storeID,path);
+        }
+        
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
+        [ScriptInvocation]
+        public string JsonGetValue(UUID hostID, UUID scriptID, UUID storeID, string path)
         {
             string value = String.Empty;
             m_store.GetValue(storeID,path,false,out value);
             return value;
         }
 
-        protected string JsonGetValueJson(UUID hostID, UUID scriptID, UUID storeID, string path)
+        [ScriptInvocation]
+        public string JsonGetValueJson(UUID hostID, UUID scriptID, UUID storeID, string path)
         {
             string value = String.Empty;
             m_store.GetValue(storeID,path,true, out value);
@@ -331,80 +418,105 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected UUID JsonTakeValue(UUID hostID, UUID scriptID, UUID storeID, string path)
+        [ScriptInvocation]
+        public UUID JsonTakeValue(UUID hostID, UUID scriptID, UUID storeID, string path)
         {
             UUID reqID = UUID.Random();
             Util.FireAndForget(delegate(object o) { DoJsonTakeValue(scriptID,reqID,storeID,path,false); });
             return reqID;
         }
 
-        protected UUID JsonTakeValueJson(UUID hostID, UUID scriptID, UUID storeID, string path)
+        [ScriptInvocation]
+        public UUID JsonTakeValueJson(UUID hostID, UUID scriptID, UUID storeID, string path)
         {
             UUID reqID = UUID.Random();
             Util.FireAndForget(delegate(object o) { DoJsonTakeValue(scriptID,reqID,storeID,path,true); });
             return reqID;
         }
         
-        private void DoJsonTakeValue(UUID scriptID, UUID reqID, UUID storeID, string path, bool useJson)
-        {
-            try
-            {
-                m_store.TakeValue(storeID,path,useJson,delegate(string value) { DispatchValue(scriptID,reqID,value); });
-                return;
-            }
-            catch (Exception e)
-            {
-                m_log.InfoFormat("[JsonStoreScripts] unable to retrieve value; {0}",e.ToString());
-            }
-            
-            DispatchValue(scriptID,reqID,String.Empty);
-        }
-
-
         // -----------------------------------------------------------------
         /// <summary>
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected UUID JsonReadValue(UUID hostID, UUID scriptID, UUID storeID, string path)
+        [ScriptInvocation]
+        public UUID JsonReadValue(UUID hostID, UUID scriptID, UUID storeID, string path)
         {
             UUID reqID = UUID.Random();
             Util.FireAndForget(delegate(object o) { DoJsonReadValue(scriptID,reqID,storeID,path,false); });
             return reqID;
         }
 
-        protected UUID JsonReadValueJson(UUID hostID, UUID scriptID, UUID storeID, string path)
+        [ScriptInvocation]
+        public UUID JsonReadValueJson(UUID hostID, UUID scriptID, UUID storeID, string path)
         {
             UUID reqID = UUID.Random();
             Util.FireAndForget(delegate(object o) { DoJsonReadValue(scriptID,reqID,storeID,path,true); });
             return reqID;
         }
         
-        private void DoJsonReadValue(UUID scriptID, UUID reqID, UUID storeID, string path, bool useJson)
+#endregion
+
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
+        protected void GenerateRuntimeError(string msg)
+        {
+            m_log.InfoFormat("[JsonStore] runtime error: {0}",msg);
+            throw new Exception("JsonStore Runtime Error: " + msg);
+        }
+        
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
+        protected void DispatchValue(UUID scriptID, UUID reqID, string value)
+        {
+            m_comms.DispatchReply(scriptID,1,value,reqID.ToString());
+        }
+
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// 
+        /// </summary>
+        // -----------------------------------------------------------------
+        private void DoJsonTakeValue(UUID scriptID, UUID reqID, UUID storeID, string path, bool useJson)
         {
             try
             {
-                m_store.ReadValue(storeID,path,useJson,delegate(string value) { DispatchValue(scriptID,reqID,value); });
+                m_store.TakeValue(storeID,path,useJson,delegate(string value) { DispatchValue(scriptID,reqID,value); });
                 return;
             }
             catch (Exception e)
             {
-                m_log.InfoFormat("[JsonStoreScripts] unable to retrieve value; {0}",e.ToString());
+                m_log.InfoFormat("[JsonStoreScripts]: unable to retrieve value; {0}",e.ToString());
             }
             
             DispatchValue(scriptID,reqID,String.Empty);
         }
 
-#endregion
 
         // -----------------------------------------------------------------
         /// <summary>
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        protected void DispatchValue(UUID scriptID, UUID reqID, string value)
+        private void DoJsonReadValue(UUID scriptID, UUID reqID, UUID storeID, string path, bool useJson)
         {
-            m_comms.DispatchReply(scriptID,1,value,reqID.ToString());
+            try
+            {
+                m_store.ReadValue(storeID,path,useJson,delegate(string value) { DispatchValue(scriptID,reqID,value); });
+                return;
+            }
+            catch (Exception e)
+            {
+                m_log.InfoFormat("[JsonStoreScripts]: unable to retrieve value; {0}",e.ToString());
+            }
+            
+            DispatchValue(scriptID,reqID,String.Empty);
         }
 
         // -----------------------------------------------------------------
@@ -412,31 +524,40 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
         /// 
         /// </summary>
         // -----------------------------------------------------------------
-        private void DoJsonReadNotecard(UUID reqID, UUID hostID, UUID scriptID, UUID storeID, string path, UUID assetID)
+        private void DoJsonReadNotecard(
+            UUID reqID, UUID hostID, UUID scriptID, UUID storeID, string path, string notecardIdentifier)
         {
+            UUID assetID;
+
+            if (!UUID.TryParse(notecardIdentifier, out assetID))
+            {
+                SceneObjectPart part = m_scene.GetSceneObjectPart(hostID);               
+                assetID = ScriptUtils.GetAssetIdFromItemName(part, notecardIdentifier, (int)AssetType.Notecard);
+            }
+
             AssetBase a = m_scene.AssetService.Get(assetID.ToString());
             if (a == null)
-                GenerateRuntimeError(String.Format("Unable to find notecard asset {0}",assetID));
+                GenerateRuntimeError(String.Format("Unable to find notecard asset {0}", assetID));
 
             if (a.Type != (sbyte)AssetType.Notecard)
-                GenerateRuntimeError(String.Format("Invalid notecard asset {0}",assetID));
+                GenerateRuntimeError(String.Format("Invalid notecard asset {0}", assetID));
             
-            m_log.DebugFormat("[JsonStoreScripts] read notecard in context {0}",storeID);
+            m_log.DebugFormat("[JsonStoreScripts]: read notecard in context {0}",storeID);
 
             try 
             {
                 string jsondata = SLUtil.ParseNotecardToString(Encoding.UTF8.GetString(a.Data));
                 int result = m_store.SetValue(storeID, path, jsondata,true) ? 1 : 0;
-                m_comms.DispatchReply(scriptID,result, "", reqID.ToString());
+                m_comms.DispatchReply(scriptID, result, "", reqID.ToString());
                 return;
             }
             catch (Exception e)
             {
-                m_log.WarnFormat("[JsonStoreScripts] Json parsing failed; {0}",e.Message);
+                m_log.WarnFormat("[JsonStoreScripts]: Json parsing failed; {0}", e.Message);
             }
 
-            GenerateRuntimeError(String.Format("Json parsing failed for {0}",assetID.ToString()));
-            m_comms.DispatchReply(scriptID,0,"",reqID.ToString());
+            GenerateRuntimeError(String.Format("Json parsing failed for {0}", assetID));
+            m_comms.DispatchReply(scriptID, 0, "", reqID.ToString());
         }
             
         // -----------------------------------------------------------------
@@ -494,5 +615,43 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
 
             m_comms.DispatchReply(scriptID,1,assetID.ToString(),reqID.ToString());
         }
+
+        // -----------------------------------------------------------------
+        /// <summary>
+        /// Convert a list of values that are path components to a single string path
+        /// </summary>
+        // -----------------------------------------------------------------
+        protected static Regex m_ArrayPattern = new Regex("^([0-9]+|\\+)$");
+        private string ConvertList2Path(object[] pathlist)
+        {
+            string path = "";
+            for (int i = 0; i < pathlist.Length; i++)
+            {
+                string token = "";
+                
+                if (pathlist[i] is string)
+                {
+                    token = pathlist[i].ToString();
+
+                    // Check to see if this is a bare number which would not be a valid
+                    // identifier otherwise
+                    if (m_ArrayPattern.IsMatch(token))
+                        token = '[' + token + ']';
+                }
+                else if (pathlist[i] is int)
+                {
+                    token = "[" + pathlist[i].ToString() + "]";
+                }
+                else
+                {
+                    token = "." + pathlist[i].ToString() + ".";
+                }
+                
+                path += token + ".";
+            }
+            
+            return path;
+        }
+        
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs b/OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs
new file mode 100644
index 0000000..f25f290
--- /dev/null
+++ b/OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs
@@ -0,0 +1,800 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Text;
+using log4net;
+using Nini.Config;
+using NUnit.Framework;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.CoreModules.Scripting.ScriptModuleComms;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.ScriptEngine.Shared;
+using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Services.Interfaces;
+using OpenSim.Tests.Common;
+using OpenSim.Tests.Common.Mock;
+
+namespace OpenSim.Region.OptionalModules.Scripting.JsonStore.Tests
+{
+    /// <summary>
+    /// Tests for inventory functions in LSL
+    /// </summary>
+    [TestFixture]
+    public class JsonStoreScriptModuleTests : OpenSimTestCase
+    {
+        private Scene m_scene;
+        private MockScriptEngine m_engine;
+        private ScriptModuleCommsModule m_smcm;
+
+        [TestFixtureSetUp]
+        public void FixtureInit()
+        {
+            // Don't allow tests to be bamboozled by asynchronous events.  Execute everything on the same thread.
+            Util.FireAndForgetMethod = FireAndForgetMethod.RegressionTest;
+        }
+
+        [TestFixtureTearDown]
+        public void TearDown()
+        {
+            // We must set this back afterwards, otherwise later tests will fail since they're expecting multiple
+            // threads.  Possibly, later tests should be rewritten so none of them require async stuff (which regression
+            // tests really shouldn't).
+            Util.FireAndForgetMethod = Util.DefaultFireAndForgetMethod;
+        }
+
+        [SetUp]
+        public override void SetUp()
+        {
+            base.SetUp();
+
+            IConfigSource configSource = new IniConfigSource();
+            IConfig jsonStoreConfig = configSource.AddConfig("JsonStore");
+            jsonStoreConfig.Set("Enabled", "true");
+
+            m_engine = new MockScriptEngine();
+            m_smcm = new ScriptModuleCommsModule();
+            JsonStoreModule jsm = new JsonStoreModule();
+            JsonStoreScriptModule jssm = new JsonStoreScriptModule();
+
+            m_scene = new SceneHelpers().SetupScene();
+            SceneHelpers.SetupSceneModules(m_scene, configSource, m_engine, m_smcm, jsm, jssm);
+
+            try
+            {
+                m_smcm.RegisterScriptInvocation(this, "DummyTestMethod");
+            }
+            catch (ArgumentException)
+            {
+                Assert.Ignore("Ignoring test since running on .NET 3.5 or earlier.");
+            }
+
+            // XXX: Unfortunately, ICommsModule currently has no way of deregistering methods.
+        }
+
+        private object InvokeOp(string name, params object[] args)
+        {
+            return InvokeOpOnHost(name, UUID.Zero, args);
+        }
+
+        private object InvokeOpOnHost(string name, UUID hostId, params object[] args)
+        {
+            return m_smcm.InvokeOperation(hostId, UUID.Zero, name, args);
+        }
+
+        [Test]
+        public void TestJsonCreateStore()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            // Test blank store
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}");
+                Assert.That(storeId, Is.Not.EqualTo(UUID.Zero));
+            }
+
+            // Test single element store
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : 'World' }");
+                Assert.That(storeId, Is.Not.EqualTo(UUID.Zero));
+            }
+
+            // Test with an integer value
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : 42.15 }");
+                Assert.That(storeId, Is.Not.EqualTo(UUID.Zero));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Hello");
+                Assert.That(value, Is.EqualTo("42.15"));
+            }
+
+            // Test with an array as the root node
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "[ 'one', 'two', 'three' ]");
+                Assert.That(storeId, Is.Not.EqualTo(UUID.Zero));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "[1]");
+                Assert.That(value, Is.EqualTo("two"));
+            }
+        }
+
+        [Test]
+        public void TestJsonDestroyStore()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : 'World' }");
+            int dsrv = (int)InvokeOp("JsonDestroyStore", storeId);
+
+            Assert.That(dsrv, Is.EqualTo(1));
+
+            int tprv = (int)InvokeOp("JsonTestPath", storeId, "Hello");
+            Assert.That(tprv, Is.EqualTo(0));
+        }
+
+        [Test]
+        public void TestJsonDestroyStoreNotExists()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            UUID fakeStoreId = TestHelpers.ParseTail(0x500);
+
+            int dsrv = (int)InvokeOp("JsonDestroyStore", fakeStoreId);
+
+            Assert.That(dsrv, Is.EqualTo(0));
+        }
+
+        [Test]
+        public void TestJsonGetValue()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : { 'World' : 'Two' } }"); 
+
+            {
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Hello.World");
+                Assert.That(value, Is.EqualTo("Two"));
+            }
+
+            // Test get of path section instead of leaf
+            {
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Hello");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            // Test get of non-existing value
+            {
+                string fakeValueGet = (string)InvokeOp("JsonGetValue", storeId, "foo");
+                Assert.That(fakeValueGet, Is.EqualTo(""));
+            }
+
+            // Test get from non-existing store
+            {
+                UUID fakeStoreId = TestHelpers.ParseTail(0x500);
+                string fakeStoreValueGet = (string)InvokeOp("JsonGetValue", fakeStoreId, "Hello");
+                Assert.That(fakeStoreValueGet, Is.EqualTo(""));
+            }
+        }
+
+        [Test]
+        public void TestJsonGetValueJson()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : { 'World' : 'Two' } }"); 
+
+            {
+                string value = (string)InvokeOp("JsonGetValueJson", storeId, "Hello.World");
+                Assert.That(value, Is.EqualTo("'Two'"));
+            }
+
+            // Test get of path section instead of leaf
+            {
+                string value = (string)InvokeOp("JsonGetValueJson", storeId, "Hello");
+                Assert.That(value, Is.EqualTo("{\"World\":\"Two\"}"));
+            }
+
+            // Test get of non-existing value
+            {
+                string fakeValueGet = (string)InvokeOp("JsonGetValueJson", storeId, "foo");
+                Assert.That(fakeValueGet, Is.EqualTo(""));
+            }
+
+            // Test get from non-existing store
+            {
+                UUID fakeStoreId = TestHelpers.ParseTail(0x500);
+                string fakeStoreValueGet = (string)InvokeOp("JsonGetValueJson", fakeStoreId, "Hello");
+                Assert.That(fakeStoreValueGet, Is.EqualTo(""));
+            }
+        }
+
+//        [Test]
+//        public void TestJsonTakeValue()
+//        {
+//            TestHelpers.InMethod();
+////            TestHelpers.EnableLogging();
+//
+//            UUID storeId 
+//                = (UUID)m_smcm.InvokeOperation(
+//                    UUID.Zero, UUID.Zero, "JsonCreateStore", new object[] { "{ 'Hello' : 'World' }" }); 
+//
+//            string value 
+//                = (string)m_smcm.InvokeOperation(
+//                    UUID.Zero, UUID.Zero, "JsonTakeValue", new object[] { storeId, "Hello" });
+//
+//            Assert.That(value, Is.EqualTo("World"));
+//
+//            string value2
+//                = (string)m_smcm.InvokeOperation(
+//                    UUID.Zero, UUID.Zero, "JsonGetValue", new object[] { storeId, "Hello" });
+//
+//            Assert.That(value, Is.Null);
+//        }
+
+        [Test]
+        public void TestJsonRemoveValue()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            // Test remove of node in object pointing to a string
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : 'World' }"); 
+
+                int returnValue = (int)InvokeOp( "JsonRemoveValue", storeId, "Hello");
+                Assert.That(returnValue, Is.EqualTo(1));
+
+                int result = (int)InvokeOp("JsonTestPath", storeId, "Hello");
+                Assert.That(result, Is.EqualTo(0));
+
+                string returnValue2 = (string)InvokeOp("JsonGetValue", storeId, "Hello");
+                Assert.That(returnValue2, Is.EqualTo(""));
+            }
+
+            // Test remove of node in object pointing to another object
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : { 'World' : 'Wally' } }"); 
+
+                int returnValue = (int)InvokeOp( "JsonRemoveValue", storeId, "Hello");
+                Assert.That(returnValue, Is.EqualTo(1));
+
+                int result = (int)InvokeOp("JsonTestPath", storeId, "Hello");
+                Assert.That(result, Is.EqualTo(0));
+
+                string returnValue2 = (string)InvokeOp("JsonGetValueJson", storeId, "Hello");
+                Assert.That(returnValue2, Is.EqualTo(""));
+            }
+
+            // Test remove of node in an array
+            {
+                UUID storeId 
+                    = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : [ 'value1', 'value2' ] }");
+
+                int returnValue = (int)InvokeOp( "JsonRemoveValue", storeId, "Hello[0]");
+                Assert.That(returnValue, Is.EqualTo(1));
+
+                int result = (int)InvokeOp("JsonTestPath", storeId, "Hello[0]");
+                Assert.That(result, Is.EqualTo(1));
+
+                result = (int)InvokeOp("JsonTestPath", storeId, "Hello[1]");
+                Assert.That(result, Is.EqualTo(0));
+
+                string stringReturnValue = (string)InvokeOp("JsonGetValue", storeId, "Hello[0]");
+                Assert.That(stringReturnValue, Is.EqualTo("value2"));
+
+                stringReturnValue = (string)InvokeOp("JsonGetValueJson", storeId, "Hello[1]");
+                Assert.That(stringReturnValue, Is.EqualTo(""));
+            }
+
+            // Test remove of non-existing value
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : 'World' }"); 
+
+                int fakeValueRemove = (int)InvokeOp("JsonRemoveValue", storeId, "Cheese");
+                Assert.That(fakeValueRemove, Is.EqualTo(0));
+            }
+
+            {
+                // Test get from non-existing store
+                UUID fakeStoreId = TestHelpers.ParseTail(0x500);
+                int fakeStoreValueRemove = (int)InvokeOp("JsonRemoveValue", fakeStoreId, "Hello");
+                Assert.That(fakeStoreValueRemove, Is.EqualTo(0));
+            }
+        }
+
+        [Test]
+        public void TestJsonTestPath()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : { 'World' : 'One' } }"); 
+
+            {
+                int result = (int)InvokeOp("JsonTestPath", storeId, "Hello.World");
+                Assert.That(result, Is.EqualTo(1));
+            }
+
+            // Test for path which does not resolve to a value.
+            {
+                int result = (int)InvokeOp("JsonTestPath", storeId, "Hello");
+                Assert.That(result, Is.EqualTo(0));
+            }
+
+            {
+                int result2 = (int)InvokeOp("JsonTestPath", storeId, "foo");
+                Assert.That(result2, Is.EqualTo(0));
+            }
+
+            // Test with fake store
+            {
+                UUID fakeStoreId = TestHelpers.ParseTail(0x500);
+                int fakeStoreValueRemove = (int)InvokeOp("JsonTestPath", fakeStoreId, "Hello");
+                Assert.That(fakeStoreValueRemove, Is.EqualTo(0));
+            }
+        }
+
+        [Test]
+        public void TestJsonTestPathJson()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello' : { 'World' : 'One' } }"); 
+
+            {
+                int result = (int)InvokeOp("JsonTestPathJson", storeId, "Hello.World");
+                Assert.That(result, Is.EqualTo(1));
+            }
+
+            // Test for path which does not resolve to a value.
+            {
+                int result = (int)InvokeOp("JsonTestPathJson", storeId, "Hello");
+                Assert.That(result, Is.EqualTo(1));
+            }
+
+            {
+                int result2 = (int)InvokeOp("JsonTestPathJson", storeId, "foo");
+                Assert.That(result2, Is.EqualTo(0));
+            }
+
+            // Test with fake store
+            {
+                UUID fakeStoreId = TestHelpers.ParseTail(0x500);
+                int fakeStoreValueRemove = (int)InvokeOp("JsonTestPathJson", fakeStoreId, "Hello");
+                Assert.That(fakeStoreValueRemove, Is.EqualTo(0));
+            }
+        }
+
+        [Test]
+        public void TestJsonSetValue()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "Fun", "Times");
+                Assert.That(result, Is.EqualTo(1));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Fun");
+                Assert.That(value, Is.EqualTo("Times"));
+            }
+
+            // Commented out as this currently unexpectedly fails.
+            // Test setting a key containing periods with delineation
+//            {
+//                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+//
+//                int result = (int)InvokeOp("JsonSetValue", storeId, "{Fun.Circus}", "Times");
+//                Assert.That(result, Is.EqualTo(1));
+//
+//                string value = (string)InvokeOp("JsonGetValue", storeId, "{Fun.Circus}");
+//                Assert.That(value, Is.EqualTo("Times"));
+//            }
+
+            // *** Test [] ***
+
+            // Test setting a key containing unbalanced ] without delineation.  Expecting failure
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "Fun]Circus", "Times");
+                Assert.That(result, Is.EqualTo(0));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Fun]Circus");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            // Test setting a key containing unbalanced [ without delineation.  Expecting failure
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "Fun[Circus", "Times");
+                Assert.That(result, Is.EqualTo(0));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Fun[Circus");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            // Test setting a key containing unbalanced [] without delineation.  Expecting failure
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "Fun[]Circus", "Times");
+                Assert.That(result, Is.EqualTo(0));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Fun[]Circus");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            // Test setting a key containing unbalanced ] with delineation
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "{Fun]Circus}", "Times");
+                Assert.That(result, Is.EqualTo(1));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "{Fun]Circus}");
+                Assert.That(value, Is.EqualTo("Times"));
+            }
+
+            // Test setting a key containing unbalanced [ with delineation
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "{Fun[Circus}", "Times");
+                Assert.That(result, Is.EqualTo(1));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "{Fun[Circus}");
+                Assert.That(value, Is.EqualTo("Times"));
+            }
+
+            // Test setting a key containing empty balanced [] with delineation
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "{Fun[]Circus}", "Times");
+                Assert.That(result, Is.EqualTo(1));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "{Fun[]Circus}");
+                Assert.That(value, Is.EqualTo("Times"));
+            }
+
+            // Commented out as this currently unexpectedly fails.
+//            // Test setting a key containing brackets around an integer with delineation
+//            {
+//                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+//
+//                int result = (int)InvokeOp("JsonSetValue", storeId, "{Fun[0]Circus}", "Times");
+//                Assert.That(result, Is.EqualTo(1));
+//
+//                string value = (string)InvokeOp("JsonGetValue", storeId, "{Fun[]Circus}");
+//                Assert.That(value, Is.EqualTo("Times"));
+//            }
+
+            // *** Test {} ***
+           
+            // Test setting a key containing unbalanced } without delineation.  Expecting failure (?)
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "Fun}Circus", "Times");
+                Assert.That(result, Is.EqualTo(0));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Fun}Circus");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            // Test setting a key containing unbalanced { without delineation.  Expecting failure (?)
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "Fun{Circus", "Times");
+                Assert.That(result, Is.EqualTo(0));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Fun}Circus");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            // Commented out as this currently unexpectedly fails.
+//            // Test setting a key containing unbalanced }
+//            {
+//                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+//
+//                int result = (int)InvokeOp("JsonSetValue", storeId, "{Fun}Circus}", "Times");
+//                Assert.That(result, Is.EqualTo(1));
+//
+//                string value = (string)InvokeOp("JsonGetValue", storeId, "{Fun}Circus}");
+//                Assert.That(value, Is.EqualTo("Times"));
+//            }
+
+            // Test setting a key containing unbalanced { with delineation
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "{Fun{Circus}", "Times");
+                Assert.That(result, Is.EqualTo(1));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "{Fun{Circus}");
+                Assert.That(value, Is.EqualTo("Times"));
+            }
+
+            // Test setting a key containing balanced {} with delineation.  This should fail.
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "{Fun{Filled}Circus}", "Times");
+                Assert.That(result, Is.EqualTo(0));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "{Fun{Filled}Circus}");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            // Test setting to location that does not exist.  This should fail.
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+
+                int result = (int)InvokeOp("JsonSetValue", storeId, "Fun.Circus", "Times");
+                Assert.That(result, Is.EqualTo(0));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Fun.Circus");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            // Test with fake store
+            {
+                UUID fakeStoreId = TestHelpers.ParseTail(0x500);
+                int fakeStoreValueSet = (int)InvokeOp("JsonSetValue", fakeStoreId, "Hello", "World");
+                Assert.That(fakeStoreValueSet, Is.EqualTo(0));
+            }
+        }
+
+        [Test]
+        public void TestJsonSetValueJson()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            // Single quoted token case
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ }"); 
+
+                int result = (int)InvokeOp("JsonSetValueJson", storeId, "Fun", "'Times'");
+                Assert.That(result, Is.EqualTo(1));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Fun");
+                Assert.That(value, Is.EqualTo("Times"));
+            }
+
+            // Sub-tree case
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ }"); 
+
+                int result = (int)InvokeOp("JsonSetValueJson", storeId, "Fun", "{ 'Filled' : 'Times' }");
+                Assert.That(result, Is.EqualTo(1));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Fun.Filled");
+                Assert.That(value, Is.EqualTo("Times"));
+            }
+
+            // If setting single strings in JsonSetValueJson, these must be single quoted tokens, not bare strings.
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ }"); 
+
+                int result = (int)InvokeOp("JsonSetValueJson", storeId, "Fun", "Times");
+                Assert.That(result, Is.EqualTo(0));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Fun");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            // Test setting to location that does not exist.  This should fail.
+            {
+                UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ }"); 
+
+                int result = (int)InvokeOp("JsonSetValueJson", storeId, "Fun.Circus", "'Times'");
+                Assert.That(result, Is.EqualTo(0));
+
+                string value = (string)InvokeOp("JsonGetValue", storeId, "Fun.Circus");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            // Test with fake store
+            {
+                UUID fakeStoreId = TestHelpers.ParseTail(0x500);
+                int fakeStoreValueSet = (int)InvokeOp("JsonSetValueJson", fakeStoreId, "Hello", "'World'");
+                Assert.That(fakeStoreValueSet, Is.EqualTo(0));
+            }
+        }
+
+        /// <summary>
+        /// Test for writing json to a notecard
+        /// </summary>
+        /// <remarks>
+        /// TODO: Really needs to test correct receipt of the link_message event.  Could do this by directly fetching
+        /// it via the MockScriptEngine or perhaps by a dummy script instance.
+        /// </remarks>
+        [Test]
+        public void TestJsonWriteNotecard()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            SceneObjectGroup so = SceneHelpers.CreateSceneObject(1, TestHelpers.ParseTail(0x1));
+            m_scene.AddSceneObject(so);
+
+            UUID storeId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello':'World' }"); 
+
+            {
+                string notecardName = "nc1";
+
+                // Write notecard
+                UUID writeNotecardRequestId = (UUID)InvokeOpOnHost("JsonWriteNotecard", so.UUID, storeId, "", notecardName);
+                Assert.That(writeNotecardRequestId, Is.Not.EqualTo(UUID.Zero));
+
+                TaskInventoryItem nc1Item = so.RootPart.Inventory.GetInventoryItem(notecardName);
+                Assert.That(nc1Item, Is.Not.Null);
+
+                // TODO: Should independently check the contents.
+            }
+
+            // TODO: Write partial test
+
+            {
+                // Try to write notecard for a bad path
+                // In this case we do get a request id but no notecard is written.
+                string badPathNotecardName = "badPathNotecardName";
+
+                UUID writeNotecardBadPathRequestId
+                    = (UUID)InvokeOpOnHost("JsonWriteNotecard", so.UUID, storeId, "flibble", badPathNotecardName);
+                Assert.That(writeNotecardBadPathRequestId, Is.Not.EqualTo(UUID.Zero));
+
+                TaskInventoryItem badPathItem = so.RootPart.Inventory.GetInventoryItem(badPathNotecardName);
+                Assert.That(badPathItem, Is.Null);
+            }
+
+            {
+                // Test with fake store
+                // In this case we do get a request id but no notecard is written.
+                string fakeStoreNotecardName = "fakeStoreNotecardName";
+
+                UUID fakeStoreId = TestHelpers.ParseTail(0x500);
+                UUID fakeStoreWriteNotecardValue
+                    = (UUID)InvokeOpOnHost("JsonWriteNotecard", so.UUID, fakeStoreId, "", fakeStoreNotecardName);
+                Assert.That(fakeStoreWriteNotecardValue, Is.Not.EqualTo(UUID.Zero));
+
+                TaskInventoryItem fakeStoreItem = so.RootPart.Inventory.GetInventoryItem(fakeStoreNotecardName);
+                Assert.That(fakeStoreItem, Is.Null);
+            }
+        }
+
+        /// <summary>
+        /// Test for reading json from a notecard
+        /// </summary>
+        /// <remarks>
+        /// TODO: Really needs to test correct receipt of the link_message event.  Could do this by directly fetching
+        /// it via the MockScriptEngine or perhaps by a dummy script instance.
+        /// </remarks>
+        [Test]
+        public void TestJsonReadNotecard()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string notecardName = "nc1";
+
+            SceneObjectGroup so = SceneHelpers.CreateSceneObject(1, TestHelpers.ParseTail(0x1));
+            m_scene.AddSceneObject(so);
+
+            UUID creatingStoreId = (UUID)InvokeOp("JsonCreateStore", "{ 'Hello':'World' }"); 
+
+            // Write notecard
+            InvokeOpOnHost("JsonWriteNotecard", so.UUID, creatingStoreId, "", notecardName);
+
+            {
+                // Read notecard
+                UUID receivingStoreId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+                UUID readNotecardRequestId = (UUID)InvokeOpOnHost("JsonReadNotecard", so.UUID, receivingStoreId, "", notecardName);
+                Assert.That(readNotecardRequestId, Is.Not.EqualTo(UUID.Zero));
+
+                string value = (string)InvokeOp("JsonGetValue", receivingStoreId, "Hello");
+                Assert.That(value, Is.EqualTo("World"));
+            }
+
+            {
+                // Read notecard to new single component path
+                UUID receivingStoreId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+                UUID readNotecardRequestId = (UUID)InvokeOpOnHost("JsonReadNotecard", so.UUID, receivingStoreId, "make", notecardName);
+                Assert.That(readNotecardRequestId, Is.Not.EqualTo(UUID.Zero));
+            
+                string value = (string)InvokeOp("JsonGetValue", receivingStoreId, "Hello");
+                Assert.That(value, Is.EqualTo(""));
+
+                value = (string)InvokeOp("JsonGetValue", receivingStoreId, "make.Hello");
+                Assert.That(value, Is.EqualTo("World"));
+            }
+
+            {
+                // Read notecard to new multi-component path.  This should not work.
+                UUID receivingStoreId = (UUID)InvokeOp("JsonCreateStore", "{}"); 
+                UUID readNotecardRequestId = (UUID)InvokeOpOnHost("JsonReadNotecard", so.UUID, receivingStoreId, "make.it", notecardName);
+                Assert.That(readNotecardRequestId, Is.Not.EqualTo(UUID.Zero));
+
+                string value = (string)InvokeOp("JsonGetValue", receivingStoreId, "Hello");
+                Assert.That(value, Is.EqualTo(""));
+
+                value = (string)InvokeOp("JsonGetValue", receivingStoreId, "make.it.Hello");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            {
+                // Read notecard to existing multi-component path.  This should work
+                UUID receivingStoreId = (UUID)InvokeOp("JsonCreateStore", "{ 'make' : { 'it' : 'so' } }"); 
+                UUID readNotecardRequestId = (UUID)InvokeOpOnHost("JsonReadNotecard", so.UUID, receivingStoreId, "make.it", notecardName);
+                Assert.That(readNotecardRequestId, Is.Not.EqualTo(UUID.Zero));
+
+                string value = (string)InvokeOp("JsonGetValue", receivingStoreId, "Hello");
+                Assert.That(value, Is.EqualTo(""));
+
+                value = (string)InvokeOp("JsonGetValue", receivingStoreId, "make.it.Hello");
+                Assert.That(value, Is.EqualTo("World"));
+            }
+
+            {
+                // Read notecard to invalid path.  This should not work.
+                UUID receivingStoreId = (UUID)InvokeOp("JsonCreateStore", "{ 'make' : { 'it' : 'so' } }"); 
+                UUID readNotecardRequestId = (UUID)InvokeOpOnHost("JsonReadNotecard", so.UUID, receivingStoreId, "/", notecardName);
+                Assert.That(readNotecardRequestId, Is.Not.EqualTo(UUID.Zero));
+
+                string value = (string)InvokeOp("JsonGetValue", receivingStoreId, "Hello");
+                Assert.That(value, Is.EqualTo(""));
+            }
+
+            {
+                // Try read notecard to fake store.
+                UUID fakeStoreId = TestHelpers.ParseTail(0x500);
+                UUID readNotecardRequestId = (UUID)InvokeOpOnHost("JsonReadNotecard", so.UUID, fakeStoreId, "", notecardName);
+                Assert.That(readNotecardRequestId, Is.Not.EqualTo(UUID.Zero));
+
+                string value = (string)InvokeOp("JsonGetValue", fakeStoreId, "Hello");
+                Assert.That(value, Is.EqualTo(""));
+            }
+        }
+
+        public object DummyTestMethod(object o1, object o2, object o3, object o4, object o5) { return null; }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs
index 6120a81..709d389 100644
--- a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs
@@ -46,6 +46,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
 {
     public class XmlRpcInfo
     {
+        public UUID item;
         public UUID channel;
         public string uri;
     }
@@ -88,6 +89,14 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
                 return;
 
             scene.RegisterModuleInterface<IXmlRpcRouter>(this);
+
+            IScriptModule scriptEngine = scene.RequestModuleInterface<IScriptModule>();
+            if ( scriptEngine != null )
+            {
+                scriptEngine.OnScriptRemoved += this.ScriptRemoved;
+                scriptEngine.OnObjectRemoved += this.ObjectRemoved;
+          
+            }
         }
 
         public void RegionLoaded(Scene scene)
@@ -120,22 +129,36 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
 
         public void RegisterNewReceiver(IScriptModule scriptEngine, UUID channel, UUID objectID, UUID itemID, string uri)
         {
-            if (!m_Channels.ContainsKey(itemID))
-            {
-                XmlRpcInfo info = new XmlRpcInfo();
-                info.channel = channel;
-                info.uri = uri;
+            if (!m_Enabled)
+                return;
 
-                bool success = SynchronousRestObjectRequester.MakeRequest<XmlRpcInfo, bool>(
-                        "POST", m_ServerURI+"/RegisterChannel/", info);
+            m_log.InfoFormat("[XMLRPC GRID ROUTER]: New receiver Obj: {0} Ch: {1} ID: {2} URI: {3}", 
+                                objectID.ToString(), channel.ToString(), itemID.ToString(), uri);
 
-                if (!success)
-                {
-                    m_log.Error("[XMLRPC GRID ROUTER] Error contacting server");
-                }
+            XmlRpcInfo info = new XmlRpcInfo();
+            info.channel = channel;
+            info.uri = uri;
+            info.item = itemID;
+
+            bool success = SynchronousRestObjectRequester.MakeRequest<XmlRpcInfo, bool>(
+                    "POST", m_ServerURI+"/RegisterChannel/", info);
 
-                m_Channels[itemID] = channel;
+            if (!success)
+            {
+                m_log.Error("[XMLRPC GRID ROUTER] Error contacting server");
             }
+
+            m_Channels[itemID] = channel;
+
+        }
+
+        public void UnRegisterReceiver(string channelID, UUID itemID)
+        {
+            if (!m_Enabled)
+                return;
+
+            RemoveChannel(itemID);
+
         }
 
         public void ScriptRemoved(UUID itemID)
@@ -143,10 +166,33 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
             if (!m_Enabled)
                 return;
 
-            if (m_Channels.ContainsKey(itemID))
+            RemoveChannel(itemID);
+
+        }
+
+        public void ObjectRemoved(UUID objectID)
+        {
+            // m_log.InfoFormat("[XMLRPC GRID ROUTER]: Object Removed {0}",objectID.ToString());
+        }
+
+        private bool RemoveChannel(UUID itemID)
+        {
+            if(!m_Channels.ContainsKey(itemID))
+            {
+                m_log.InfoFormat("[XMLRPC GRID ROUTER]: Attempted to unregister non-existing Item: {0}", itemID.ToString());
+                return false;
+            }
+
+            XmlRpcInfo info = new XmlRpcInfo();
+
+            info.channel = m_Channels[itemID];
+            info.item = itemID;
+            info.uri = "http://0.0.0.0:00";
+
+            if (info != null)
             {
-                bool success = SynchronousRestObjectRequester.MakeRequest<UUID, bool>(
-                        "POST", m_ServerURI+"/RemoveChannel/", m_Channels[itemID]);
+                bool success = SynchronousRestObjectRequester.MakeRequest<XmlRpcInfo, bool>(
+                        "POST", m_ServerURI+"/RemoveChannel/", info);
 
                 if (!success)
                 {
@@ -154,11 +200,9 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule
                 }
 
                 m_Channels.Remove(itemID);
+                return true;
             }
-        }
-
-        public void ObjectRemoved(UUID objectID)
-        {
+            return false;
         }
     }
 }
diff --git a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
index 4bde52a..32549d6 100644
--- a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs
@@ -104,12 +104,18 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcRouterModule
             }
         }
 
+        public void UnRegisterReceiver(string channelID, UUID itemID)
+        {
+        }
+
         public void ScriptRemoved(UUID itemID)
         {
+            // System.Console.WriteLine("TEST Script Removed!");
         }
 
         public void ObjectRemoved(UUID objectID)
         {
+            // System.Console.WriteLine("TEST Obj Removed!");
         }
     }
 }
diff --git a/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs b/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs
index c7e3a7a..57d9217 100644
--- a/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs
+++ b/OpenSim/Region/OptionalModules/World/MoneyModule/SampleMoneyModule.cs
@@ -49,7 +49,7 @@ namespace OpenSim.Region.OptionalModules.World.MoneyModule
     /// (such as land transfers).  There is no money code here!  Use FORGE as an example for money code.
     /// Demo Economy/Money Module.  This is a purposely crippled module!
     ///  // To land transfer you need to add:
-    /// -helperuri <ADDRESS TO THIS SERVER>
+    /// -helperuri http://serveraddress:port/
     /// to the command line parameters you use to start up your client
     /// This commonly looks like -helperuri http://127.0.0.1:9000/
     ///
@@ -116,10 +116,9 @@ namespace OpenSim.Region.OptionalModules.World.MoneyModule
         }
 
         /// <summary>
-        /// Startup
+        /// Called on startup so the module can be configured.
         /// </summary>
-        /// <param name="scene"></param>
-        /// <param name="config"></param>
+        /// <param name="config">Configuration source.</param>
         public void Initialise(IConfigSource config)
         {
             m_gConfig = config;
@@ -674,9 +673,12 @@ namespace OpenSim.Region.OptionalModules.World.MoneyModule
         }
 
         /// <summary>
-        /// When the client closes the connection we remove their accounting info from memory to free up resources.
+        /// When the client closes the connection we remove their accounting
+        /// info from memory to free up resources.
         /// </summary>
-        /// <param name="AgentID"></param>
+        /// <param name="AgentID">UUID of agent</param>
+        /// <param name="scene">Scene the agent was connected to.</param>
+        /// <see cref="OpenSim.Region.Framework.Scenes.EventManager.ClientClosed"/>
         public void ClientClosed(UUID AgentID, Scene scene)
         {
             
diff --git a/OpenSim/Region/OptionalModules/World/NPC/Tests/NPCModuleTests.cs b/OpenSim/Region/OptionalModules/World/NPC/Tests/NPCModuleTests.cs
index ef4005b..34362af 100644
--- a/OpenSim/Region/OptionalModules/World/NPC/Tests/NPCModuleTests.cs
+++ b/OpenSim/Region/OptionalModules/World/NPC/Tests/NPCModuleTests.cs
@@ -48,7 +48,7 @@ using OpenSim.Tests.Common.Mock;
 namespace OpenSim.Region.OptionalModules.World.NPC.Tests
 {
     [TestFixture]
-    public class NPCModuleTests
+    public class NPCModuleTests : OpenSimTestCase
     {
         private TestScene m_scene;
         private AvatarFactoryModule m_afMod;
@@ -74,6 +74,8 @@ namespace OpenSim.Region.OptionalModules.World.NPC.Tests
         [SetUp]
         public void Init()
         {
+            base.SetUp();
+
             IConfigSource config = new IniConfigSource();
             config.AddConfig("NPC");
             config.Configs["NPC"].Set("Enabled", "true");
diff --git a/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs b/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs
new file mode 100644
index 0000000..5fb74b0
--- /dev/null
+++ b/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs
@@ -0,0 +1,235 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+using log4net;
+using Mono.Addins;
+using Nini.Config;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Framework.Console;
+using OpenSim.Framework.Monitoring;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Framework.Scenes;
+
+namespace OpenSim.Region.OptionalModules.Avatar.Attachments
+{
+    /// <summary>
+    /// A module that just holds commands for inspecting avatar appearance.
+    /// </summary>
+    [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "SceneCommandsModule")]
+    public class SceneCommandsModule : ISceneCommandsModule, INonSharedRegionModule
+    {
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private Scene m_scene;
+
+        public string Name { get { return "Scene Commands Module"; } }
+        
+        public Type ReplaceableInterface { get { return null; } }
+        
+        public void Initialise(IConfigSource source)
+        {
+//            m_log.DebugFormat("[SCENE COMMANDS MODULE]: INITIALIZED MODULE");
+        }
+        
+        public void PostInitialise()
+        {
+//            m_log.DebugFormat("[SCENE COMMANDS MODULE]: POST INITIALIZED MODULE");
+        }
+        
+        public void Close()
+        {
+//            m_log.DebugFormat("[SCENE COMMANDS MODULE]: CLOSED MODULE");
+        }
+        
+        public void AddRegion(Scene scene)
+        {
+//            m_log.DebugFormat("[SCENE COMMANDS MODULE]: REGION {0} ADDED", scene.RegionInfo.RegionName);
+
+            m_scene = scene;
+            
+            m_scene.RegisterModuleInterface<ISceneCommandsModule>(this);
+        }
+        
+        public void RemoveRegion(Scene scene)
+        {
+//            m_log.DebugFormat("[SCENE COMMANDS MODULE]: REGION {0} REMOVED", scene.RegionInfo.RegionName);
+        }        
+        
+        public void RegionLoaded(Scene scene)
+        {
+//            m_log.DebugFormat("[ATTACHMENTS COMMAND MODULE]: REGION {0} LOADED", scene.RegionInfo.RegionName);
+
+            scene.AddCommand(
+                "Debug", this, "debug scene get",
+                "debug scene get",
+                "List current scene options.",
+                "If active     is false then main scene update and maintenance loops are suspended.\n"
+                    + "If animations is true  then extra animations debug information is logged.\n"
+                    + "If collisions is false then collisions with other objects are turned off.\n"
+                    + "If pbackup    is false then periodic scene backup is turned off.\n"
+                    + "If physics    is false then all physics objects are non-physical.\n"
+                    + "If scripting  is false then no scripting operations happen.\n"
+                    + "If teleport   is true  then some extra teleport debug information is logged.\n"
+                    + "If updates    is true  then any frame which exceeds double the maximum desired frame time is logged.",
+                HandleDebugSceneGetCommand);
+
+            scene.AddCommand(
+                "Debug", this, "debug scene set",
+                "debug scene set active|collisions|pbackup|physics|scripting|teleport|updates true|false",
+                "Turn on scene debugging options.",
+                "If active     is false then main scene update and maintenance loops are suspended.\n"
+                    + "If animations is true  then extra animations debug information is logged.\n"
+                    + "If collisions is false then collisions with other objects are turned off.\n"
+                    + "If pbackup    is false then periodic scene backup is turned off.\n"
+                    + "If physics    is false then all physics objects are non-physical.\n"
+                    + "If scripting  is false then no scripting operations happen.\n"
+                    + "If teleport   is true  then some extra teleport debug information is logged.\n"
+                    + "If updates    is true  then any frame which exceeds double the maximum desired frame time is logged.",
+                HandleDebugSceneSetCommand);
+        }
+
+        private void HandleDebugSceneGetCommand(string module, string[] args)
+        {
+            if (args.Length == 3)
+            {
+                if (MainConsole.Instance.ConsoleScene != m_scene && MainConsole.Instance.ConsoleScene != null)
+                    return;
+
+                OutputSceneDebugOptions();
+            }
+            else
+            {
+                MainConsole.Instance.Output("Usage: debug scene get");
+            }
+        }
+
+        private void OutputSceneDebugOptions()
+        {
+            ConsoleDisplayList cdl = new ConsoleDisplayList();
+            cdl.AddRow("active", m_scene.Active);
+            cdl.AddRow("animations", m_scene.DebugAnimations);
+            cdl.AddRow("pbackup", m_scene.PeriodicBackup);
+            cdl.AddRow("physics", m_scene.PhysicsEnabled);
+            cdl.AddRow("scripting", m_scene.ScriptsEnabled);
+            cdl.AddRow("teleport", m_scene.DebugTeleporting);
+            cdl.AddRow("updates", m_scene.DebugUpdates);
+
+            MainConsole.Instance.OutputFormat("Scene {0} options:", m_scene.Name);
+            MainConsole.Instance.Output(cdl.ToString());
+        }
+
+        private void HandleDebugSceneSetCommand(string module, string[] args)
+        {
+            if (args.Length == 5)
+            {
+                if (MainConsole.Instance.ConsoleScene != m_scene && MainConsole.Instance.ConsoleScene != null)
+                    return;
+
+                string key = args[3];
+                string value = args[4];
+                SetSceneDebugOptions(new Dictionary<string, string>() { { key, value } });
+
+                MainConsole.Instance.OutputFormat("Set {0} debug scene {1} = {2}", m_scene.Name, key, value);
+            }
+            else
+            {
+                MainConsole.Instance.Output(
+                    "Usage: debug scene set active|collisions|pbackup|physics|scripting|teleport|updates true|false");
+            }
+        }
+
+        public void SetSceneDebugOptions(Dictionary<string, string> options)
+        {
+            if (options.ContainsKey("active"))
+            {
+                bool active;
+
+                if (bool.TryParse(options["active"], out active))
+                    m_scene.Active = active;
+            }
+
+            if (options.ContainsKey("animations"))
+            {
+                bool active;
+
+                if (bool.TryParse(options["animations"], out active))
+                    m_scene.DebugAnimations = active;
+            }
+
+            if (options.ContainsKey("pbackup"))
+            {
+                bool active;
+
+                if (bool.TryParse(options["pbackup"], out active))
+                    m_scene.PeriodicBackup = active;
+            }
+
+            if (options.ContainsKey("scripting"))
+            {
+                bool enableScripts = true;
+                if (bool.TryParse(options["scripting"], out enableScripts))
+                    m_scene.ScriptsEnabled = enableScripts;
+            }
+
+            if (options.ContainsKey("physics"))
+            {
+                bool enablePhysics;
+                if (bool.TryParse(options["physics"], out enablePhysics))
+                    m_scene.PhysicsEnabled = enablePhysics;
+            }
+
+//            if (options.ContainsKey("collisions"))
+//            {
+//                // TODO: Implement.  If false, should stop objects colliding, though possibly should still allow
+//                // the avatar themselves to collide with the ground.
+//            }
+
+            if (options.ContainsKey("teleport"))
+            {
+                bool enableTeleportDebugging;
+                if (bool.TryParse(options["teleport"], out enableTeleportDebugging))
+                    m_scene.DebugTeleporting = enableTeleportDebugging;
+            }
+
+            if (options.ContainsKey("updates"))
+            {
+                bool enableUpdateDebugging;
+                if (bool.TryParse(options["updates"], out enableUpdateDebugging))
+                {
+                    m_scene.DebugUpdates = enableUpdateDebugging;
+                    GcNotify.Enabled = enableUpdateDebugging;
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs
index fb9cb66..6fd6f7e 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs
@@ -55,4 +55,4 @@ using System.Runtime.InteropServices;
 // You can specify all values by your own or you can build default build and revision
 // numbers with the '*' character (the default):
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
index 7ab2a03..373c7e0 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
@@ -49,7 +49,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 
         public PhysicsScene GetScene(string sceneIdentifier)
         {
-            return new BasicScene(sceneIdentifier);
+            return new BasicScene(GetName(), sceneIdentifier);
         }
 
         public string GetName()
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
index f5826ed..c4b9117 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
@@ -49,8 +49,10 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 
         //protected internal string sceneIdentifier;
 
-        public BasicScene(string _sceneIdentifier)
+        public BasicScene(string engineType, string _sceneIdentifier)
         {
+            EngineType = engineType;
+            Name = EngineType + "/" + _sceneIdentifier;
             //sceneIdentifier = _sceneIdentifier;
         }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
new file mode 100755
index 0000000..ae54499
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -0,0 +1,1885 @@
+/*
+ * 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 copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Security;
+using System.Text;
+
+using OpenSim.Framework;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSAPIUnman : BSAPITemplate
+{
+
+private sealed class BulletWorldUnman : BulletWorld
+{
+    public IntPtr ptr;
+    public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx)
+        : base(id, physScene)
+    {
+        ptr = xx;
+    }
+}
+
+private sealed class BulletBodyUnman : BulletBody
+{
+    public IntPtr ptr;
+    public BulletBodyUnman(uint id, IntPtr xx)
+        : base(id)
+    {
+        ptr = xx;
+    }
+    public override bool HasPhysicalBody
+    {
+        get { return ptr != IntPtr.Zero; }
+    }
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+
+private sealed class BulletShapeUnman : BulletShape
+{
+    public IntPtr ptr;
+    public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) 
+        : base()
+    {
+        ptr = xx;
+        type = typ;
+    }
+    public override bool HasPhysicalShape
+    {
+        get { return ptr != IntPtr.Zero; }
+    }
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override BulletShape Clone()
+    {
+        return new BulletShapeUnman(ptr, type);
+    }
+    public override bool ReferenceSame(BulletShape other)
+    {
+        BulletShapeUnman otheru = other as BulletShapeUnman;
+        return (otheru != null) && (this.ptr == otheru.ptr);
+
+    }
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+private sealed class BulletConstraintUnman : BulletConstraint
+{
+    public BulletConstraintUnman(IntPtr xx) : base()
+    {
+        ptr = xx;
+    }
+    public IntPtr ptr;
+
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+
+// We pin the memory passed between the managed and unmanaged code.
+GCHandle m_paramsHandle;
+private GCHandle m_collisionArrayPinnedHandle;
+private GCHandle m_updateArrayPinnedHandle;
+
+// Handle to the callback used by the unmanaged code to call into the managed code.
+// Used for debug logging.
+// Need to store the handle in a persistant variable so it won't be freed.
+private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle;
+
+private BSScene PhysicsScene { get; set; }
+
+public override string BulletEngineName { get { return "BulletUnmanaged"; } }
+public override string BulletEngineVersion { get; protected set; }
+
+public BSAPIUnman(string paramName, BSScene physScene)
+{
+    PhysicsScene = physScene;
+
+    // Do something fancy with the paramName to get the right DLL implementation
+    //     like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
+    if (Util.IsWindows())
+        Util.LoadArchSpecificWindowsDll("BulletSim.dll");
+    // If not Windows, loading is performed by the
+    // Mono loader as specified in
+    // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
+}
+
+// Initialization and simulation
+public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
+                                                                                        int maxCollisions,  ref CollisionDesc[] collisionArray,
+                                                                                        int maxUpdates, ref EntityProperties[] updateArray
+                                            )
+{
+    // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
+    m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
+    m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
+    m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
+
+    // If Debug logging level, enable logging from the unmanaged code
+    m_DebugLogCallbackHandle = null;
+    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)
+            // The handle is saved in a variable to make sure it doesn't get freed after this call
+            m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
+        else
+            m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
+    }
+
+    // Get the version of the DLL
+    // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
+    // BulletEngineVersion = BulletSimAPI.GetVersion2();
+    BulletEngineVersion = "";
+
+    // Call the unmanaged code with the buffers and other information
+    return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
+                                    maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
+                                    maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
+                                    m_DebugLogCallbackHandle));
+
+}
+
+// Called directly from unmanaged code so don't do much
+private void BulletLogger(string msg)
+{
+    BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg);
+}
+
+// Called directly from unmanaged code so don't do much
+private void BulletLoggerPhysLog(string msg)
+{
+    PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
+}
+
+public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                                        out int updatedEntityCount, out int collidersCount)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
+}
+
+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)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.PushUpdate2(bodyu.ptr);
+}
+
+public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value);
+}
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+public override BulletShape CreateMeshShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
+                    BSPhysicsShapeType.SHAPE_MESH);
+}
+
+public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), 
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type);
+}
+
+public override bool IsNativeShape(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        return BSAPICPP.IsNativeShape2(shapeu.ptr);
+    return false;
+}
+
+public override void SetShapeCollisionMargin(BulletShape shape, float margin)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin);
+}
+
+public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                   BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale),
+                   BSPhysicsShapeType.SHAPE_CAPSULE);
+}
+
+public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree),
+                    BSPhysicsShapeType.SHAPE_COMPOUND);
+
+}
+
+public override int GetNumberOfCompoundChildren(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr);
+    return 0;
+}
+
+public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BulletShapeUnman addShapeu = addShape as BulletShapeUnman;
+    BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot);
+}
+
+public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
+}
+
+public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
+}
+
+public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman;
+    BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr);
+}
+
+public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb)
+{
+    BulletShapeUnman shapeu = pShape as BulletShapeUnman;
+    BSAPICPP.UpdateChildTransform2(shapeu.ptr, childIndex, pos, rot, shouldRecalculateLocalAabb);
+}
+
+public override void RecalculateCompoundShapeLocalAabb(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr);
+}
+
+public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type);
+}
+
+public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
+}
+
+public override CollisionObjectTypes GetBodyType(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr);
+}
+
+public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
+}
+
+public override void DestroyObject(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr);
+}
+
+// =====================================================================================
+// Terrain creation and helper routines
+public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
+{
+    return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
+}
+
+public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
+                                float scaleFactor, float collisionMargin)
+{
+    return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
+                                                BSPhysicsShapeType.SHAPE_TERRAIN);
+}
+
+// =====================================================================================
+// Constraint creation and helper routines
+public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
+                    frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
+                    joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
+                    pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse);
+}
+
+public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations);
+}
+
+public override bool SetFrames(BulletConstraint constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot);
+}
+
+public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi);
+}
+
+public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi);
+}
+
+public override bool UseFrameOffset(BulletConstraint constrain, float enable)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable);
+}
+
+public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce);
+}
+
+public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold);
+}
+
+public override bool CalculateTransforms(BulletConstraint constrain)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.CalculateTransforms2(constrainu.ptr);
+}
+
+public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis);
+}
+
+public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr);
+}
+
+// =====================================================================================
+// btCollisionWorld entries
+public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr);
+}
+
+public override void UpdateAabbs(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.UpdateAabbs2(worldu.ptr);
+}
+
+public override bool GetForceUpdateAllAabbs(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr);
+}
+
+public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force);
+}
+
+// =====================================================================================
+// btDynamicsWorld entries
+public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+
+    // Bullet resets several variables when an object is added to the world.
+    //   Gravity is reset to world default depending on the static/dynamic
+    //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
+    Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
+
+    bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
+
+    if (ret)
+    {
+        BSAPICPP.SetGravity2(bodyu.ptr, origGrav);
+        obj.ApplyCollisionMask(world.physicsScene);
+    }
+    return ret;
+}
+
+public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr);
+}
+
+public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects);
+}
+
+public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr);
+}
+// =====================================================================================
+// btCollisionObject entries
+public override Vector3 GetAnisotripicFriction(BulletConstraint constrain)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr);
+}
+
+public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict);
+}
+
+public override bool HasAnisotripicFriction(BulletConstraint constrain)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr);
+}
+
+public override void SetContactProcessingThreshold(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val);
+}
+
+public override float GetContactProcessingThreshold(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr);
+}
+
+public override bool IsStaticObject(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsStaticObject2(bodyu.ptr);
+}
+
+public override bool IsKinematicObject(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsKinematicObject2(bodyu.ptr);
+}
+
+public override bool IsStaticOrKinematicObject(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr);
+}
+
+public override bool HasContactResponse(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.HasContactResponse2(bodyu.ptr);
+}
+
+public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (worldu != null && bodyu != null)
+    {
+        // Special case to allow the caller to zero out the reference to any physical shape
+        if (shapeu != null)
+            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr);
+        else
+            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero);
+    }
+}
+
+public override BulletShape GetCollisionShape(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN);
+}
+
+public override int GetActivationState(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetActivationState2(bodyu.ptr);
+}
+
+public override void SetActivationState(BulletBody obj, int state)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetActivationState2(bodyu.ptr, state);
+}
+
+public override void SetDeactivationTime(BulletBody obj, float dtime)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime);
+}
+
+public override float GetDeactivationTime(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetDeactivationTime2(bodyu.ptr);
+}
+
+public override void ForceActivationState(BulletBody obj, ActivationState state)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ForceActivationState2(bodyu.ptr, state);
+}
+
+public override void Activate(BulletBody obj, bool forceActivation)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.Activate2(bodyu.ptr, forceActivation);
+}
+
+public override bool IsActive(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsActive2(bodyu.ptr);
+}
+
+public override void SetRestitution(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetRestitution2(bodyu.ptr, val);
+}
+
+public override float GetRestitution(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetRestitution2(bodyu.ptr);
+}
+
+public override void SetFriction(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetFriction2(bodyu.ptr, val);
+}
+
+public override float GetFriction(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetFriction2(bodyu.ptr);
+}
+
+public override Vector3 GetPosition(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetPosition2(bodyu.ptr);
+}
+
+public override Quaternion GetOrientation(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetOrientation2(bodyu.ptr);
+}
+
+public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation);
+}
+
+    /*
+public override IntPtr GetBroadphaseHandle(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr);
+}
+
+public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetUserPointer2(bodyu.ptr, handle);
+}
+     */
+
+public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel);
+}
+
+public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel);
+}
+
+public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel);
+}
+
+public override float GetHitFraction(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetHitFraction2(bodyu.ptr);
+}
+
+public override void SetHitFraction(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetHitFraction2(bodyu.ptr, val);
+}
+
+public override CollisionFlags GetCollisionFlags(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCollisionFlags2(bodyu.ptr);
+}
+
+public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags);
+}
+
+public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags);
+}
+
+public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags);
+}
+
+public override float GetCcdMotionThreshold(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr);
+}
+
+
+public override void SetCcdMotionThreshold(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val);
+}
+
+public override float GetCcdSweptSphereRadius(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr);
+}
+
+public override void SetCcdSweptSphereRadius(BulletBody obj, float val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val);
+}
+
+public override IntPtr GetUserPointer(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetUserPointer2(bodyu.ptr);
+}
+
+public override void SetUserPointer(BulletBody obj, IntPtr val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetUserPointer2(bodyu.ptr, val);
+}
+
+// =====================================================================================
+// btRigidBody entries
+public override void ApplyGravity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyGravity2(bodyu.ptr);
+}
+
+public override void SetGravity(BulletBody obj, Vector3 val)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetGravity2(bodyu.ptr, val);
+}
+
+public override Vector3 GetGravity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetGravity2(bodyu.ptr);
+}
+
+public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping);
+}
+
+public override void SetLinearDamping(BulletBody obj, float lin_damping)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping);
+}
+
+public override void SetAngularDamping(BulletBody obj, float ang_damping)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping);
+}
+
+public override float GetLinearDamping(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearDamping2(bodyu.ptr);
+}
+
+public override float GetAngularDamping(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularDamping2(bodyu.ptr);
+}
+
+public override float GetLinearSleepingThreshold(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr);
+}
+
+public override void ApplyDamping(BulletBody obj, float timeStep)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep);
+}
+
+public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia);
+}
+
+public override Vector3 GetLinearFactor(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearFactor2(bodyu.ptr);
+}
+
+public override void SetLinearFactor(BulletBody obj, Vector3 factor)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearFactor2(bodyu.ptr, factor);
+}
+
+public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot);
+}
+
+// Add a force to the object as if its mass is one.
+// Deep down in Bullet: m_totalForce += force*m_linearFactor;
+public override void ApplyCentralForce(BulletBody obj, Vector3 force)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyCentralForce2(bodyu.ptr, force);
+}
+
+// Set the force being applied to the object as if its mass is one.
+public override void SetObjectForce(BulletBody obj, Vector3 force)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetObjectForce2(bodyu.ptr, force);
+}
+
+public override Vector3 GetTotalForce(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetTotalForce2(bodyu.ptr);
+}
+
+public override Vector3 GetTotalTorque(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetTotalTorque2(bodyu.ptr);
+}
+
+public override Vector3 GetInvInertiaDiagLocal(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr);
+}
+
+public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert);
+}
+
+public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold);
+}
+
+// Deep down in Bullet: m_totalTorque += torque*m_angularFactor;
+public override void ApplyTorque(BulletBody obj, Vector3 torque)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyTorque2(bodyu.ptr, torque);
+}
+
+// Apply force at the given point. Will add torque to the object.
+// Deep down in Bullet: applyCentralForce(force);
+//                              applyTorque(rel_pos.cross(force*m_linearFactor));
+public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyForce2(bodyu.ptr, force, pos);
+}
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+// Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
+public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp);
+}
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+// Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
+public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp);
+}
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+// Deep down in Bullet: applyCentralImpulse(impulse);
+//                              applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
+public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos);
+}
+
+public override void ClearForces(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ClearForces2(bodyu.ptr);
+}
+
+public override void ClearAllForces(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ClearAllForces2(bodyu.ptr);
+}
+
+public override void UpdateInertiaTensor(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateInertiaTensor2(bodyu.ptr);
+}
+
+public override Vector3 GetLinearVelocity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearVelocity2(bodyu.ptr);
+}
+
+public override Vector3 GetAngularVelocity(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularVelocity2(bodyu.ptr);
+}
+
+public override void SetLinearVelocity(BulletBody obj, Vector3 vel)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel);
+}
+
+public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity);
+}
+
+public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos);
+}
+
+public override void Translate(BulletBody obj, Vector3 trans)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.Translate2(bodyu.ptr, trans);
+}
+
+public override void UpdateDeactivation(BulletBody obj, float timeStep)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep);
+}
+
+public override bool WantsSleeping(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.WantsSleeping2(bodyu.ptr);
+}
+
+public override void SetAngularFactor(BulletBody obj, float factor)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularFactor2(bodyu.ptr, factor);
+}
+
+public override void SetAngularFactorV(BulletBody obj, Vector3 factor)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor);
+}
+
+public override Vector3 GetAngularFactor(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularFactor2(bodyu.ptr);
+}
+
+public override bool IsInWorld(BulletWorld world, BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsInWorld2(bodyu.ptr);
+}
+
+public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr);
+}
+
+public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr);
+}
+
+public override BulletConstraint GetConstraintRef(BulletBody obj, int index)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index));
+}
+
+public override int GetNumConstraintRefs(BulletBody obj)
+{
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr);
+}
+
+public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask)
+{
+    BulletBodyUnman bodyu = body as BulletBodyUnman;
+    return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask);
+}
+
+// =====================================================================================
+// btCollisionShape entries
+
+public override float GetAngularMotionDisc(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr);
+}
+
+public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor);
+}
+
+public override bool IsPolyhedral(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsPolyhedral2(shapeu.ptr);
+}
+
+public override bool IsConvex2d(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConvex2d2(shapeu.ptr);
+}
+
+public override bool IsConvex(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConvex2(shapeu.ptr);
+}
+
+public override bool IsNonMoving(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsNonMoving2(shapeu.ptr);
+}
+
+public override bool IsConcave(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConcave2(shapeu.ptr);
+}
+
+public override bool IsCompound(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsCompound2(shapeu.ptr);
+}
+
+public override bool IsSoftBody(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsSoftBody2(shapeu.ptr);
+}
+
+public override bool IsInfinite(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsInfinite2(shapeu.ptr);
+}
+
+public override void SetLocalScaling(BulletShape shape, Vector3 scale)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.SetLocalScaling2(shapeu.ptr, scale);
+}
+
+public override Vector3 GetLocalScaling(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetLocalScaling2(shapeu.ptr);
+}
+
+public override Vector3 CalculateLocalInertia(BulletShape shape, float mass)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass);
+}
+
+public override int GetShapeType(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetShapeType2(shapeu.ptr);
+}
+
+public override void SetMargin(BulletShape shape, float val)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.SetMargin2(shapeu.ptr, val);
+}
+
+public override float GetMargin(BulletShape shape)
+{
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetMargin2(shapeu.ptr);
+}
+
+// =====================================================================================
+// Debugging
+public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = collisionObject as BulletBodyUnman;
+    BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr);
+}
+
+public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = collisionShape as BulletShapeUnman;
+    BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr);
+}
+
+public override void DumpConstraint(BulletWorld world, BulletConstraint constrain)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr);
+}
+
+public override void DumpActivationInfo(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpActivationInfo2(worldu.ptr);
+}
+
+public override void DumpAllInfo(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpAllInfo2(worldu.ptr);
+}
+
+public override void DumpPhysicsStatistics(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
+}
+public override void ResetBroadphasePool(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.ResetBroadphasePool(worldu.ptr);
+}
+public override void ResetConstraintSolver(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.ResetConstraintSolver(worldu.ptr);
+}
+
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// The actual interface to the unmanaged code
+static class BSAPICPP
+{
+// ===============================================================================
+// Link back to the managed code for outputting log messages
+[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
+
+// ===============================================================================
+// Initialization and simulation
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
+                                                                                        int maxCollisions,  IntPtr collisionArray,
+                                                                                        int maxUpdates, IntPtr updateArray,
+                                            DebugLogCallback logRoutine);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount, out int collidersCount);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Shutdown2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool PushUpdate2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateMeshShape2(IntPtr world,
+                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
+                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHullShape2(IntPtr world,
+                int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsNativeShape2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateChildTransform2(IntPtr pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetBodyType2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
+
+// =====================================================================================
+// Terrain creation and helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+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, 
+                                            [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
+                                            float scaleFactor, float collisionMargin);
+
+// =====================================================================================
+// Constraint creation and helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetFrames2(IntPtr constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool CalculateTransforms2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
+
+// =====================================================================================
+// btCollisionWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
+
+// =====================================================================================
+// btDynamicsWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
+// =====================================================================================
+// btCollisionObject entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetContactProcessingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasContactResponse2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetCollisionShape2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetActivationState2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetActivationState2(IntPtr obj, int state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetDeactivationTime2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Activate2(IntPtr obj, bool forceActivation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsActive2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetRestitution2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetRestitution2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetFriction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetFriction2(IntPtr obj);
+
+    /* Haven't defined the type 'Transform'
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetWorldTransform2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void setWorldTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetPosition2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Quaternion GetOrientation2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetHitFraction2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetHitFraction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdMotionThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetUserPointer2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
+
+// =====================================================================================
+// btRigidBody entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyGravity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetGravity2(IntPtr obj, Vector3 val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetGravity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearSleepingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularSleepingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyDamping2(IntPtr obj, float timeStep);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
+
+// Add a force to the object as if its mass is one.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
+
+// Set the force being applied to the object as if its mass is one.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalForce2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalTorque2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
+
+// Apply force at the given point. Will add torque to the object.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ClearForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ClearAllForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateInertiaTensor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Translate2(IntPtr obj, Vector3 trans);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool WantsSleeping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactor2(IntPtr obj, float factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInWorld2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetNumConstraintRefs2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
+
+// =====================================================================================
+// btCollisionShape entries
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularMotionDisc2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsPolyhedral2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2d2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsNonMoving2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConcave2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsCompound2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsSoftBody2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInfinite2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLocalScaling2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetShapeType2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetMargin2(IntPtr shape, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetMargin2(IntPtr shape);
+
+// =====================================================================================
+// Debugging
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpActivationInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpAllInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpPhysicsStatistics2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ResetBroadphasePool(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ResetConstraintSolver(IntPtr sim);
+
+}
+
+}
+
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
new file mode 100755
index 0000000..39e62dd
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -0,0 +1,2166 @@
+/*
+ * 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 copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Runtime.InteropServices;
+using System.Text;
+
+using OpenSim.Framework;
+
+using OpenMetaverse;
+
+using BulletXNA;
+using BulletXNA.LinearMath;
+using BulletXNA.BulletCollision;
+using BulletXNA.BulletDynamics;
+using BulletXNA.BulletCollision.CollisionDispatch;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSAPIXNA : BSAPITemplate
+{
+private sealed class BulletWorldXNA : BulletWorld
+{
+    public DiscreteDynamicsWorld world;
+    public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx)
+        : base(id, physScene)
+    {
+        world = xx;
+    }
+}
+
+private sealed class BulletBodyXNA : BulletBody
+{
+    public CollisionObject body;
+    public RigidBody rigidBody { get { return RigidBody.Upcast(body); } }
+
+    public BulletBodyXNA(uint id, CollisionObject xx)
+        : base(id)
+    {
+        body = xx;
+    }
+    public override bool HasPhysicalBody
+    {
+        get { return body != null; }
+    }
+    public override void Clear()
+    {
+        body = null;
+    }
+    public override string AddrString
+    {
+        get { return "XNARigidBody"; }
+    }
+}
+
+private sealed class BulletShapeXNA : BulletShape
+{
+    public CollisionShape shape;
+    public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) 
+        : base()
+    {
+        shape = xx;
+        type = typ;
+    }
+    public override bool HasPhysicalShape
+    {
+        get { return shape != null; }
+    }
+    public override void Clear()
+    {
+        shape = null;
+    }
+    public override BulletShape Clone()
+    {
+        return new BulletShapeXNA(shape, type);
+    }
+    public override bool ReferenceSame(BulletShape other)
+    {
+        BulletShapeXNA otheru = other as BulletShapeXNA;
+        return (otheru != null) && (this.shape == otheru.shape);
+
+    }
+    public override string AddrString
+    {
+        get { return "XNACollisionShape"; }
+    }
+}
+private sealed class BulletConstraintXNA : BulletConstraint
+{
+    public TypedConstraint constrain;
+    public BulletConstraintXNA(TypedConstraint xx) : base()
+    {
+        constrain = xx;
+    }
+
+    public override void Clear()
+    {
+        constrain = null;
+    }
+    public override bool HasPhysicalConstraint { get { return constrain != null; } }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public override string AddrString
+    {
+        get { return "XNAConstraint"; }
+    }
+}
+    internal int m_maxCollisions;
+    internal CollisionDesc[] UpdatedCollisions;
+    internal int LastCollisionDesc = 0;
+    internal int m_maxUpdatesPerFrame;
+    internal int LastEntityProperty = 0;
+
+    internal EntityProperties[] UpdatedObjects;
+    internal Dictionary<uint, GhostObject> specialCollisionObjects; 
+    
+    private static int m_collisionsThisFrame;
+    private BSScene PhysicsScene { get; set; }
+
+    public override string BulletEngineName { get { return "BulletXNA"; } }
+    public override string BulletEngineVersion { get; protected set; }
+
+    public BSAPIXNA(string paramName, BSScene physScene)
+    {
+        PhysicsScene = physScene;
+    }
+
+    /// <summary>
+    /// 
+    /// </summary>
+    /// <param name="p"></param>
+    /// <param name="p_2"></param>
+    public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        CollisionObject collisionObject = ((BulletBodyXNA)pBody).body;
+        if (body != null)
+            world.RemoveRigidBody(body);
+        else if (collisionObject != null)
+            world.RemoveCollisionObject(collisionObject);
+        else
+            return false;
+        return true;
+    }
+
+    public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
+        world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
+        
+        return true;
+
+    }
+
+    public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
+        world.RemoveConstraint(constraint);
+        return true;
+    }
+
+    public override void SetRestitution(BulletBody pCollisionObject, float pRestitution)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        collisionObject.SetRestitution(pRestitution);
+    }
+
+    public override int GetShapeType(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return (int)shape.GetShapeType();
+    }
+    public override void SetMargin(BulletShape pShape, float pMargin)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        shape.SetMargin(pMargin);
+    }
+
+    public override float GetMargin(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.GetMargin();
+    }
+
+    public override void SetLocalScaling(BulletShape pShape, Vector3 pScale)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
+        shape.SetLocalScaling(ref vec);
+
+    }
+
+    public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetContactProcessingThreshold(contactprocessingthreshold);
+    }
+
+    public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        collisionObject.SetCcdMotionThreshold(pccdMotionThreashold);
+    }
+
+    public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
+    }
+
+    public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
+    }
+
+    public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
+        existingcollisionFlags |= pcollisionFlags;
+        collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+        return (CollisionFlags) (uint) existingcollisionFlags;
+    }
+
+    public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject cbody = (pBody as BulletBodyXNA).body;
+        RigidBody rbody = cbody as RigidBody;
+
+        // Bullet resets several variables when an object is added to the world. In particular,
+        //   BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic
+        //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
+        IndexedMatrix origPos = cbody.GetWorldTransform();
+        if (rbody != null)
+        {
+            IndexedVector3 origGrav = rbody.GetGravity();
+            world.AddRigidBody(rbody);
+            rbody.SetGravity(origGrav);
+        }
+        else
+        {
+            world.AddCollisionObject(cbody);
+        }
+        cbody.SetWorldTransform(origPos);
+
+        pBody.ApplyCollisionMask(pWorld.physicsScene);
+
+        //if (body.GetBroadphaseHandle() != null)
+        //    world.UpdateSingleAabb(body);
+        return true;
+    }
+
+    public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
+    }
+
+    public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        world.UpdateSingleAabb(collisionObject);
+    }
+
+    public override void UpdateAabbs(BulletWorld pWorld) {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        world.UpdateAabbs();
+    }
+    public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        return world.GetForceUpdateAllAabbs();
+        
+    }
+    public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        world.SetForceUpdateAllAabbs(pForce);
+    }
+
+    public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+        collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+        if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0)
+            return false;
+        return true;
+    }
+
+    public override void ClearAllForces(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
+        collisionObject.SetInterpolationLinearVelocity(ref zeroVector);
+        collisionObject.SetInterpolationAngularVelocity(ref zeroVector);
+        IndexedMatrix bodytransform = collisionObject.GetWorldTransform();
+
+        collisionObject.SetInterpolationWorldTransform(ref bodytransform);
+
+        if (collisionObject is RigidBody)
+        {
+            RigidBody rigidbody = collisionObject as RigidBody;
+            rigidbody.SetLinearVelocity(zeroVector);
+            rigidbody.SetAngularVelocity(zeroVector);
+            rigidbody.ClearForces();
+        }
+    }
+
+    public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
+        collisionObject.SetInterpolationAngularVelocity(ref vec);
+    }
+
+    public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
+        body.SetAngularVelocity(ref vec);
+    }
+    public override Vector3 GetTotalForce(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = body.GetTotalForce();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetTotalTorque(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = body.GetTotalTorque();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = body.GetInvInertiaDiagLocal();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z);
+        body.SetInvInertiaDiagLocal(ref iv3);
+    }
+    public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z);
+        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        body.ApplyForce(ref forceiv3, ref posiv3);
+    }
+    public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z);
+        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        body.ApplyImpulse(ref impiv3, ref posiv3);
+    }
+
+    public override void ClearForces(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.ClearForces();
+    }
+
+    public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
+        IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
+                                                              _orientation.W);
+        IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
+        mat._origin = vposition;
+        collisionObject.SetWorldTransform(mat);
+        
+    }
+
+    public override Vector3 GetPosition(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin;
+        return new Vector3(pos.X, pos.Y, pos.Z);
+    }
+
+    public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        IndexedVector3 inertia = IndexedVector3.Zero;
+        shape.CalculateLocalInertia(pphysMass, out inertia);
+        return new Vector3(inertia.X, inertia.Y, inertia.Z);
+    }
+
+    public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        if (body != null) // Can't set mass props on collision object.
+        {
+            IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
+            body.SetMassProps(pphysMass, inertia);
+        }
+    }
+
+
+    public override void SetObjectForce(BulletBody pBody, Vector3 _force)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
+        body.SetTotalForce(ref force);
+    }
+
+    public override void SetFriction(BulletBody pCollisionObject, float _currentFriction)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        collisionObject.SetFriction(_currentFriction);
+    }
+
+    public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
+        body.SetLinearVelocity(velocity);
+    }
+
+    public override void Activate(BulletBody pCollisionObject, bool pforceactivation)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.Activate(pforceactivation);
+        
+    }
+
+    public override Quaternion GetOrientation(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation();
+        return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
+    }
+
+    public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
+        existingcollisionFlags &= ~pcollisionFlags;
+        collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+        return (CollisionFlags)(uint)existingcollisionFlags;
+    }
+
+    public override float GetCcdMotionThreshold(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.GetCcdSquareMotionThreshold();
+    }
+
+    public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.GetCcdSweptSphereRadius();
+        
+    }
+
+    public override IntPtr GetUserPointer(BulletBody pCollisionObject)
+    {
+        CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
+        return (IntPtr)shape.GetUserPointer();
+    }
+
+    public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val)
+    {
+        CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
+        shape.SetUserPointer(val);
+    }
+
+    public override void SetGravity(BulletBody pBody, Vector3 pGravity)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        if (body != null) // Can't set collisionobject.set gravity
+        {
+            IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
+            body.SetGravity(gravity);
+        }
+    }
+
+    public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
+        world.RemoveConstraint(constraint);
+        return true;
+    }
+
+    public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
+        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
+        constraint.SetLinearLowerLimit(lowlimit);
+        constraint.SetLinearUpperLimit(highlimit);
+        return true;
+    }
+
+    public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
+        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
+        constraint.SetAngularLowerLimit(lowlimit);
+        constraint.SetAngularUpperLimit(highlimit);
+        return true;
+    }
+
+    public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        constraint.SetOverrideNumSolverIterations((int)cnt);
+    }
+
+    public override bool CalculateTransforms(BulletConstraint pConstraint)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        constraint.CalculateTransforms();
+        return true;
+    }
+
+    public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        constraint.SetEnabled((p_2 == 0) ? false : true);
+    }
+
+
+    //BulletSimAPI.Create6DofConstraint(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+    public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
+        RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
+        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
+        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
+        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
+        frame1._origin = frame1v;
+
+        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
+        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
+        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
+        frame2._origin = frame1v;
+
+        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
+                                                                  puseLinearReferenceFrameA);
+        consttr.CalculateTransforms();
+        world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
+
+        return new BulletConstraintXNA(consttr);
+    }
+
+    
+    /// <summary>
+    /// 
+    /// </summary>
+    /// <param name="pWorld"></param>
+    /// <param name="pBody1"></param>
+    /// <param name="pBody2"></param>
+    /// <param name="pjoinPoint"></param>
+    /// <param name="puseLinearReferenceFrameA"></param>
+    /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
+    /// <returns></returns>
+    public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
+        RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
+        IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
+        IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
+
+        IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
+        IndexedMatrix mat = IndexedMatrix.Identity;
+        mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
+        frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
+        frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
+
+        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
+        consttr.CalculateTransforms();
+        world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
+
+        return new BulletConstraintXNA(consttr);
+    }
+    //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
+    public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
+        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
+        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
+        frame1._origin = frame1v;
+
+        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
+        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
+        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
+        frame2._origin = frame1v;
+        constraint.SetFrames(ref frame1, ref frame2);
+        return true;
+    }
+
+    public override Vector3 GetLinearVelocity(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = body.GetLinearVelocity();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetAngularVelocity(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = body.GetAngularVelocity();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3);
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override void Translate(BulletBody pCollisionObject, Vector3 trans)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z));
+    }
+    public override void UpdateDeactivation(BulletBody pBody, float timeStep)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.UpdateDeactivation(timeStep);
+    }
+
+    public override bool WantsSleeping(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.WantsSleeping();
+    }
+
+    public override void SetAngularFactor(BulletBody pBody, float factor)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.SetAngularFactor(factor);
+    }
+
+    public override Vector3 GetAngularFactor(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 =  body.GetAngularFactor();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+
+    public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        return world.IsInWorld(collisionObject);
+    }
+
+    public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
+        body.AddConstraintRef(constrain);
+    }
+
+    public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
+        body.RemoveConstraintRef(constrain);
+    }
+
+    public override BulletConstraint GetConstraintRef(BulletBody pBody, int index)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return new BulletConstraintXNA(body.GetConstraintRef(index));
+    }
+
+    public override int GetNumConstraintRefs(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.GetNumConstraintRefs();
+    }
+
+    public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
+        collisionObject.SetInterpolationLinearVelocity(ref velocity);
+    }
+
+    public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        constraint.SetUseFrameOffset((onOff == 0) ? false : true);
+        return true;
+    }
+    //SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
+    public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        constraint.SetBreakingImpulseThreshold(threshold);
+        return true;
+    }
+    //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
+    public override void SetAngularDamping(BulletBody pBody, float angularDamping)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        float lineardamping = body.GetLinearDamping();
+        body.SetDamping(lineardamping, angularDamping);
+
+    }
+
+    public override void UpdateInertiaTensor(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        if (body != null)  // can't update inertia tensor on CollisionObject
+            body.UpdateInertiaTensor();
+    }
+
+    public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
+    {
+        CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
+        shape.RecalculateLocalAabb();
+    }
+
+    //BulletSimAPI.GetCollisionFlags(PhysBody.ptr)
+    public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        uint flags = (uint)collisionObject.GetCollisionFlags();
+        return (CollisionFlags) flags;
+    }
+
+    public override void SetDamping(BulletBody pBody, float pLinear, float pAngular)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.SetDamping(pLinear, pAngular);
+    }
+    //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
+    public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetDeactivationTime(pDeactivationTime);
+    }
+    //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+    public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
+    }
+
+    public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        return (CollisionObjectTypes)(int) collisionObject.GetInternalType();
+    }
+
+    public override void ApplyGravity(BulletBody pBody)
+    {
+
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.ApplyGravity();
+    }
+
+    public override Vector3 GetGravity(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 gravity = body.GetGravity();
+        return new Vector3(gravity.X, gravity.Y, gravity.Z);
+    }
+
+    public override void SetLinearDamping(BulletBody pBody, float lin_damping)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        float angularDamping = body.GetAngularDamping();
+        body.SetDamping(lin_damping, angularDamping); 
+    }
+
+    public override float GetLinearDamping(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.GetLinearDamping();
+    }
+
+    public override float GetAngularDamping(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.GetAngularDamping();
+    }
+
+    public override float GetLinearSleepingThreshold(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.GetLinearSleepingThreshold();
+    }
+
+    public override void ApplyDamping(BulletBody pBody, float timeStep)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.ApplyDamping(timeStep);
+    }
+
+    public override Vector3 GetLinearFactor(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 linearFactor = body.GetLinearFactor();
+        return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z);
+    }
+
+    public override void SetLinearFactor(BulletBody pBody, Vector3 factor)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z));
+    }
+
+    public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W);
+        IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat);
+        mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        body.SetCenterOfMassTransform( ref mat);
+        /* TODO: double check this */
+    }
+
+    //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum);
+    public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyCentralForce(ref fSum);
+    }
+    public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyCentralImpulse(ref fSum);
+    }
+    public override void ApplyTorque(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyTorque(ref fSum);
+    }
+    public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyTorqueImpulse(ref fSum);
+    }
+
+    public override void DestroyObject(BulletWorld pWorld, BulletBody pBody)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject co = (pBody as BulletBodyXNA).rigidBody;
+        RigidBody bo = co as RigidBody;
+        if (bo == null)
+        {
+            
+            if (world.IsInWorld(co))
+            {
+                world.RemoveCollisionObject(co);
+            }
+        }
+        else
+        {
+            
+            if (world.IsInWorld(bo))
+            {
+                world.RemoveRigidBody(bo);
+            }
+        }
+        if (co != null)
+        {
+            if (co.GetUserPointer() != null)
+            {
+                uint localId = (uint) co.GetUserPointer();
+                if (specialCollisionObjects.ContainsKey(localId))
+                {
+                    specialCollisionObjects.Remove(localId);
+                }
+            }
+        }
+
+    }
+
+    public override void Shutdown(BulletWorld pWorld)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        world.Cleanup();
+    }
+
+    public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id)
+    {
+        CollisionShape shape1 = (pShape as BulletShapeXNA).shape;
+
+        // TODO:  Turn this from a reference copy to a Value Copy.
+        BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType()));
+        
+        return shape2;
+    }
+
+    public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape)
+    {
+        //TODO:
+        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;
+        IndexedMatrix mat =
+            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
+                                                                     pRawOrientation.Z, pRawOrientation.W));
+        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        //UpdateSingleAabb(world, shape);
+        // TODO: Feed Update array into null
+        SimMotionState motionState = new SimMotionState(this, pLocalID, mat, null);
+        RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero);
+        RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, motionState, shape, IndexedVector3.Zero)
+                                                         {
+                                                             m_mass = 0
+                                                         };
+        /*
+            m_mass = mass;
+                        m_motionState =motionState;
+                        m_collisionShape = collisionShape;
+                        m_localInertia = localInertia;
+                        m_linearDamping = 0f;
+                        m_angularDamping = 0f;
+                        m_friction = 0.5f;
+                        m_restitution = 0f;
+                        m_linearSleepingThreshold = 0.8f;
+                        m_angularSleepingThreshold = 1f;
+                        m_additionalDamping = false;
+                        m_additionalDampingFactor = 0.005f;
+                        m_additionalLinearDampingThresholdSqr = 0.01f;
+                        m_additionalAngularDampingThresholdSqr = 0.01f;
+                        m_additionalAngularDampingFactor = 0.01f;
+            m_startWorldTransform = IndexedMatrix.Identity;
+        */
+        body.SetUserPointer(pLocalID);
+        
+        return new BulletBodyXNA(pLocalID, body);
+    }
+
+    
+    public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+    {
+
+        IndexedMatrix mat =
+            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
+                                                                     pRawOrientation.Z, pRawOrientation.W));
+        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+
+        // TODO: Feed Update array into null
+        RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
+        body.SetWorldTransform(mat);
+        body.SetUserPointer(pLocalID);
+        return new BulletBodyXNA(pLocalID, body);
+    }
+    //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+    public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
+        return (CollisionFlags)collisionObject.GetCollisionFlags();
+    }
+
+    public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
+    {
+
+        /* TODO */ 
+        return Vector3.Zero;
+    }
+    public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
+    public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; }
+    public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; }
+    public override bool IsStaticObject(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.IsStaticObject();
+        
+    }
+    public override bool IsKinematicObject(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.IsKinematicObject();
+    }
+    public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.IsStaticOrKinematicObject();
+    }
+    public override bool HasContactResponse(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.HasContactResponse();
+    }
+    public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; }
+    public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ }
+    public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; }
+    public override bool IsActive(BulletBody pBody) { /* TODO */ return false; }
+    public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; }
+    public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; }
+    public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ }
+    public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; }
+
+    //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
+    public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetHitFraction(pHitFraction);
+    }
+    //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale);
+    public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
+        CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
+        capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
+        capsuleShapeZ.SetLocalScaling(ref scale);
+
+        return new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE); ;
+    }
+
+    public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
+                                            int maxCollisions, ref CollisionDesc[] collisionArray,
+                                            int maxUpdates, ref EntityProperties[] updateArray
+                                            )
+    {
+
+        UpdatedObjects = updateArray;
+        UpdatedCollisions = collisionArray;
+        /* TODO */
+        ConfigurationParameters[] configparms = new ConfigurationParameters[1];
+        configparms[0] = parms;
+        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
+        m_maxCollisions = maxCollisions;
+        m_maxUpdatesPerFrame = maxUpdates;
+        specialCollisionObjects = new Dictionary<uint, GhostObject>();
+
+        return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
+    }
+
+    private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, 
+                        ConfigurationParameters[] o,
+                        int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
+                        int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, 
+                        object mDebugLogCallbackHandle)
+    {
+        CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
+
+        p.angularDamping = BSParam.AngularDamping;
+        p.defaultFriction = o[0].defaultFriction;
+        p.defaultFriction = o[0].defaultFriction;
+        p.defaultDensity = o[0].defaultDensity;
+        p.defaultRestitution = o[0].defaultRestitution;
+        p.collisionMargin = o[0].collisionMargin;
+        p.gravity = o[0].gravity;
+
+        p.linearDamping = BSParam.LinearDamping;
+        p.angularDamping = BSParam.AngularDamping;
+        p.deactivationTime = BSParam.DeactivationTime;
+        p.linearSleepingThreshold = BSParam.LinearSleepingThreshold;
+        p.angularSleepingThreshold = BSParam.AngularSleepingThreshold;
+        p.ccdMotionThreshold = BSParam.CcdMotionThreshold;
+        p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius;
+        p.contactProcessingThreshold = BSParam.ContactProcessingThreshold;
+
+        p.terrainImplementation = BSParam.TerrainImplementation;
+        p.terrainFriction = BSParam.TerrainFriction;
+
+        p.terrainHitFraction = BSParam.TerrainHitFraction;
+        p.terrainRestitution = BSParam.TerrainRestitution;
+        p.terrainCollisionMargin = BSParam.TerrainCollisionMargin;
+
+        p.avatarFriction = BSParam.AvatarFriction;
+        p.avatarStandingFriction = BSParam.AvatarStandingFriction;
+        p.avatarDensity = BSParam.AvatarDensity;
+        p.avatarRestitution = BSParam.AvatarRestitution;
+        p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth;
+        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;
+        p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
+        p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
+        p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
+        p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
+        p.numberOfSolverIterations = o[0].numberOfSolverIterations;
+
+        p.linksetImplementation = BSParam.LinksetImplementation;
+        p.linkConstraintUseFrameOffset = BSParam.LinkConstraintUseFrameOffset;
+        p.linkConstraintEnableTransMotor = BSParam.LinkConstraintEnableTransMotor;
+        p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel;
+        p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce;
+        p.linkConstraintERP = BSParam.LinkConstraintERP;
+        p.linkConstraintCFM = BSParam.LinkConstraintCFM;
+        p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
+        p.physicsLoggingFrames = o[0].physicsLoggingFrames;
+        DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
+        
+        DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
+        CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
+
+
+        if (p.maxPersistantManifoldPoolSize > 0)
+            cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
+        if (p.shouldDisableContactPoolDynamicAllocation !=0)
+            m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
+        //if (p.maxCollisionAlgorithmPoolSize >0 )
+
+        DbvtBroadphase m_broadphase = new DbvtBroadphase();
+        //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
+        //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
+
+        //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
+        m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
+
+        SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
+
+        DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
+
+        world.LastCollisionDesc = 0;
+        world.LastEntityProperty = 0;
+
+        world.WorldSettings.Params = p;
+        world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
+        world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
+        if (p.shouldRandomizeSolverOrder != 0)
+            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
+
+        world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
+        //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
+
+        if (p.shouldEnableFrictionCaching != 0)
+            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
+
+        if (p.numberOfSolverIterations > 0)
+            world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
+
+
+        world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
+        world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
+        world.GetSolverInfo().m_globalCfm = 0.0f;
+        world.GetSolverInfo().m_tau = 0.6f;
+        world.GetSolverInfo().m_friction = 0.3f;
+        world.GetSolverInfo().m_maxErrorReduction = 20f;
+        world.GetSolverInfo().m_numIterations = 10;
+        world.GetSolverInfo().m_erp = 0.2f;
+        world.GetSolverInfo().m_erp2 = 0.1f;
+        world.GetSolverInfo().m_sor = 1.0f;
+        world.GetSolverInfo().m_splitImpulse = false;
+        world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
+        world.GetSolverInfo().m_linearSlop = 0.0f;
+        world.GetSolverInfo().m_warmstartingFactor = 0.85f;
+        world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
+        world.SetForceUpdateAllAabbs(true);
+
+        //BSParam.TerrainImplementation = 0;
+        world.SetGravity(new IndexedVector3(0,0,p.gravity));
+
+        return world;
+    }
+    //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
+    public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
+    {
+        Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
+        }
+        if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
+        }
+        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
+        }
+        return true;
+    }
+
+    public override bool PushUpdate(BulletBody pCollisionObject)
+    {
+        bool ret = false;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        RigidBody rb = collisionObject as RigidBody;
+        if (rb != null)
+        {
+            SimMotionState sms = rb.GetMotionState() as SimMotionState;
+            if (sms != null)
+            {
+                IndexedMatrix wt = IndexedMatrix.Identity;
+                sms.GetWorldTransform(out wt);
+                sms.SetWorldTransform(ref wt, true);
+                ret = true;
+            }
+        }
+        return ret;
+        
+    }
+
+    public override float GetAngularMotionDisc(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.GetAngularMotionDisc();
+    }
+    public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.GetContactBreakingThreshold(defaultFactor);
+    }
+    public override bool IsCompound(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsCompound();
+    }
+    public override bool IsSoftBody(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsSoftBody();
+    }
+    public override bool IsPolyhedral(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsPolyhedral();
+    }
+    public override bool IsConvex2d(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsConvex2d();
+    }
+    public override bool IsConvex(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsConvex();
+    }
+    public override bool IsNonMoving(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsNonMoving();
+    }
+    public override bool IsConcave(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsConcave();
+    }
+    public override bool IsInfinite(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsInfinite();
+    }
+    public override bool IsNativeShape(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        bool ret;
+        switch (shape.GetShapeType())
+        {
+            case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
+                ret = true;
+                break;
+            default:
+                ret = false;
+                break;
+        }
+        return ret;
+    }
+
+    public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        shape.SetMargin(pMargin);
+    }
+
+    //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
+    public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        IndexedMatrix bodyTransform = new IndexedMatrix();
+        bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+        bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
+        GhostObject gObj = new PairCachingGhostObject();
+        gObj.SetWorldTransform(bodyTransform);
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        gObj.SetCollisionShape(shape);
+        gObj.SetUserPointer(pLocalID);
+        
+        if (specialCollisionObjects.ContainsKey(pLocalID))
+            specialCollisionObjects[pLocalID] = gObj;
+        else 
+            specialCollisionObjects.Add(pLocalID, gObj);
+
+        // TODO: Add to Special CollisionObjects!
+        return new BulletBodyXNA(pLocalID, gObj);
+    }
+
+    public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        if (pShape == null)
+        {
+            collisionObject.SetCollisionShape(new EmptyShape());
+        }
+        else
+        {
+            CollisionShape shape = (pShape as BulletShapeXNA).shape;
+            collisionObject.SetCollisionShape(shape);
+        }
+    }
+    public override BulletShape GetCollisionShape(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        CollisionShape shape = collisionObject.GetCollisionShape();
+        return new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
+    }
+
+    //(PhysicsScene.World.ptr, nativeShapeData)
+    public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionShape shape = null;
+        switch (pShapeData.Type)
+        {
+            case BSPhysicsShapeType.SHAPE_BOX:
+                shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
+                break;
+            case BSPhysicsShapeType.SHAPE_CONE:
+                shape = new ConeShapeZ(0.5f, 1.0f);
+                break;
+            case BSPhysicsShapeType.SHAPE_CYLINDER:
+                shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
+                break;
+            case BSPhysicsShapeType.SHAPE_SPHERE:
+                shape = new SphereShape(0.5f);
+                break;
+
+        }
+        if (shape != null)
+        {
+            IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
+            shape.SetMargin(world.WorldSettings.Params.collisionMargin);
+            shape.SetLocalScaling(ref scaling);
+
+        }
+        return new BulletShapeXNA(shape, pShapeData.Type);
+    }
+    //PhysicsScene.World.ptr, false
+    public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree)
+    {
+        return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND);
+    }
+
+    public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape)
+    {
+        CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
+        return compoundshape.GetNumChildShapes();
+    }
+    //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
+    public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot)
+    {
+        IndexedMatrix relativeTransform = new IndexedMatrix();
+        CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
+        CollisionShape addshape = (paddShape as BulletShapeXNA).shape;
+
+        relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
+        relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
+        compoundshape.AddChildShape(ref relativeTransform, addshape);
+
+    }
+
+    public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii)
+    {
+        CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
+        CollisionShape ret = null;
+        ret = compoundshape.GetChildShape(pii);
+        compoundshape.RemoveChildShapeByIndex(pii);
+        return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType()));
+    }
+
+    public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { 
+        
+        if (cShape == null)
+            return null;
+        CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape;
+        CollisionShape shape = compoundShape.GetChildShape(indx);
+        BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
+
+
+        return retShape; 
+    }
+
+    public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
+    {
+        switch (pin)
+        {
+            case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_BOX;
+                break;
+            case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+
+            case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_MESH;
+                break;
+            case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_HULL;
+                break;
+            case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            //implicit convex shapes
+            case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_SPHERE;
+                break;
+            case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_CAPSULE;
+                break;
+            case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_CONE;
+                break;
+            case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_CYLINDER;
+                break;
+            case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            //concave shape
+            case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
+            case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_MESH;
+                break;
+            case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_MESH;
+                break;
+            ///used for demo integration FAST/Swift collision library and Bullet
+            case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_MESH;
+                break;
+            //terrain
+            case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_HEIGHTMAP;
+                break;
+            ///Used for GIMPACT Trimesh integration
+            case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_MESH;
+                break;
+            ///Multimaterial mesh
+            case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_MESH;
+                break;
+
+            case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_GROUNDPLANE;
+                break;
+            case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+
+            case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_COMPOUND;
+                break;
+
+            case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_MESH;
+                break;
+            case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+            case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE:
+                return BSPhysicsShapeType.SHAPE_UNKNOWN;
+                break;
+        }
+        return BSPhysicsShapeType.SHAPE_UNKNOWN;
+    }
+
+    public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ }
+    public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ }
+
+    public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin)
+    {
+        StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
+        m_planeshape.SetMargin(pcollisionMargin);
+        m_planeshape.SetUserPointer(pLocalId);
+        return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
+    }
+
+    public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+    {
+        HingeConstraint constrain = null;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
+        RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
+        if (rb1 != null && rb2 != null)
+        {
+            IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
+            IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
+            IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
+            IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
+            world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
+        }
+        return new BulletConstraintXNA(constrain);
+    }
+
+    public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CompoundShape compoundshape = new CompoundShape(false);
+        
+        compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
+        int ii = 1;
+
+        for (int i = 0; i < pHullCount; i++)
+        {
+            int vertexCount = (int) pConvHulls[ii];
+
+            IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
+            IndexedMatrix childTrans = IndexedMatrix.Identity;
+            childTrans._origin = centroid;
+
+            List<IndexedVector3> virts = new List<IndexedVector3>();
+            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);
+            convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
+            compoundshape.AddChildShape(ref childTrans, convexShape);
+            ii += (vertexCount*3 + 4);
+        }
+        
+        return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
+    }
+
+    public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+    {
+        /* TODO */ return null;
+
+    }
+
+    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);
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        IndexedMesh mesh = new IndexedMesh();
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount/3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indicesarr;
+        mesh.m_vertexBase = vertices;
+        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);
+        meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
+       // world.UpdateSingleAabb(meshShape);
+        return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
+
+    }
+    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);
+        IndexedMesh mesh = new IndexedMesh();
+
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount / 3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indices;
+        mesh.m_vertexBase = vertices;
+        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);
+
+
+
+        for (int i = 0; i < pVerticesCount; i++)
+        {
+
+            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");
+        }
+
+        sw.Close();
+    }
+    public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
+    {
+
+        String fileName = "objTest6.raw";
+        String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
+        StreamWriter sw = new StreamWriter(completePath);
+        IndexedMesh mesh = new IndexedMesh();
+
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount / 3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indices;
+        mesh.m_vertexBase = vertices;
+        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);
+
+
+        sw.WriteLine("Indices");
+        sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
+        for (int iter = 0; iter < indices.Length; iter++)
+        {
+            sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
+        }
+        sw.WriteLine("VerticesFloats");
+        sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
+        for (int iter = 0; iter < vertices.Length; iter++)
+        {
+            sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
+        }
+
+            // for (int i = 0; i < pVerticesCount; i++)
+            // {
+            //
+            //     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");
+            //}
+
+            sw.Close();
+    }
+
+    public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+                                                                float scaleFactor, float collisionMargin)
+    {
+        const int upAxis = 2;
+        HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y,
+                                                                           heightMap,  scaleFactor,
+                                                                           minHeight, maxHeight, upAxis,
+                                                                            false);
+        terrainShape.SetMargin(collisionMargin + 0.5f);
+        terrainShape.SetUseDiamondSubdivision(true);
+        terrainShape.SetUserPointer(id);
+        return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
+    }
+
+    public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
+    {
+        TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain;
+        bool onOff = ponOff != 0;
+        bool ret = false;
+
+        switch (tconstrain.GetConstraintType())
+        {
+            case TypedConstraintType.D6_CONSTRAINT_TYPE:
+                Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
+                constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
+                constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
+                constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
+                ret = true;
+                break;
+        }
+
+
+        return ret;
+
+    }
+
+    public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount, out int collidersCount)
+    {
+        /* 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, 
+                    out int updatedEntityCount, out EntityProperties[] updatedEntities,
+                    out int collidersCount, out CollisionDesc[] colliders)
+    {
+        int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
+                                out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame);
+        return epic;
+    }
+
+    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)
+        {
+            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+
+            world.LastCollisionDesc = 0;
+            world.LastEntityProperty = 0;
+            numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
+            int updates = 0;
+
+            PersistentManifold contactManifold;
+            CollisionObject objA;
+            CollisionObject objB;
+            ManifoldPoint manifoldPoint;
+            PairCachingGhostObject pairCachingGhostObject;
+
+            m_collisionsThisFrame = 0;
+            int numManifolds = world.GetDispatcher().GetNumManifolds();
+            for (int j = 0; j < numManifolds; j++)
+            {
+                contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
+                int numContacts = contactManifold.GetNumContacts();
+                if (numContacts == 0)
+                    continue;
+
+                objA = contactManifold.GetBody0() as CollisionObject;
+                objB = contactManifold.GetBody1() as CollisionObject;
+
+                manifoldPoint = contactManifold.GetContactPoint(0);
+                //IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
+               // IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
+
+                RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance());
+                m_collisionsThisFrame ++;
+                if (m_collisionsThisFrame >= 9999999)
+                    break;
+
+
+            }
+
+            foreach (GhostObject ghostObject in specialCollisionObjects.Values)
+            {
+                pairCachingGhostObject = ghostObject as PairCachingGhostObject;
+                if (pairCachingGhostObject != null)
+                {
+                    RecordGhostCollisions(pairCachingGhostObject);
+                }
+
+            }
+
+
+            updatedEntityCount = LastEntityProperty;
+            updatedEntities = UpdatedObjects;
+
+            collidersCount = LastCollisionDesc;
+            colliders = UpdatedCollisions;
+                
+
+        }
+        else
+        {
+            //if (updatedEntities is null)
+            //updatedEntities = new List<BulletXNA.EntityProperties>();
+            //updatedEntityCount = 0;
+            
+            
+            //collidersCount = 0;
+           
+            updatedEntities = new EntityProperties[0];
+
+            
+            colliders = new CollisionDesc[0];
+        
+        }
+        return numSimSteps;
+    }
+    public void RecordGhostCollisions(PairCachingGhostObject obj)
+    {
+        IOverlappingPairCache cache = obj.GetOverlappingPairCache();
+        ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray();
+        
+        DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world;
+        PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
+        BroadphasePair collisionPair;
+        PersistentManifold contactManifold;
+
+        CollisionObject objA;
+        CollisionObject objB;
+
+        ManifoldPoint pt;
+
+        int numPairs = pairs.Count;
+        
+        for (int i = 0; i < numPairs; i++)
+        {
+            manifoldArray.Clear();
+            if (LastCollisionDesc < UpdatedCollisions.Length)
+                break;
+            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++)
+            {
+                contactManifold = manifoldArray[j];
+                int numContacts = contactManifold.GetNumContacts();
+                objA = contactManifold.GetBody0() as CollisionObject;
+                objB = contactManifold.GetBody1() as CollisionObject;
+                for (int p = 0; p < numContacts; p++)
+                {
+                    pt = contactManifold.GetContactPoint(p);
+                    if (pt.GetDistance() < 0.0f)
+                    {
+                        RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance());
+                        break;
+                    }
+                }
+            }
+        }
+
+    }
+    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)
+        {
+            return;
+        }
+        uint idA = (uint)objA.GetUserPointer();
+        uint idB = (uint)objB.GetUserPointer();
+        if (idA > idB)
+        {
+            uint temp = idA;
+            idA = idB;
+            idB = temp;
+            contactNormal = -contactNormal;
+        }
+
+        //ulong collisionID = ((ulong) idA << 32) | idB;
+
+        CollisionDesc cDesc = new CollisionDesc()
+                                            {
+                                                aID = idA,
+                                                bID = idB,
+                                                point = new Vector3(contact.X,contact.Y,contact.Z),
+                                                normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z),
+                                                penetration = penetration
+
+                                            };
+        if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
+            world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
+        m_collisionsThisFrame++;
+
+
+    }
+    private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject)
+    {
+        EntityProperties ent = new EntityProperties();
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedMatrix transform = collisionObject.GetWorldTransform();
+        IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity();
+        IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity();
+        IndexedQuaternion rotation = transform.GetRotation();
+        ent.Acceleration = Vector3.Zero;
+        ent.ID = (uint)collisionObject.GetUserPointer();
+        ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
+        ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
+        ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
+        ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
+        return ent;
+    }
+
+    public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */
+        return false; }
+
+    public override Vector3 GetLocalScaling(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        IndexedVector3 scale = shape.GetLocalScaling();
+        return new Vector3(scale.X,scale.Y,scale.Z);
+    }
+
+    public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        if (world != null)
+        {
+            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 = 
+                                            new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
+                    )
+                {
+                    world.RayTest(ref rOrigin, ref rEnd, rayCallback);
+                    if (rayCallback.HasHit())
+                    {
+                        IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
+                    }
+                    return rayCallback.HasHit();
+                }
+           }
+        }
+        return false;
+    }
+}
+  
+
+   
+
+    public class SimMotionState : DefaultMotionState
+    {
+        public RigidBody Rigidbody;
+        public Vector3 ZeroVect;
+
+        private IndexedMatrix m_xform;
+
+        private EntityProperties m_properties;
+        private EntityProperties m_lastProperties;
+        private BSAPIXNA m_world;
+
+        const float POSITION_TOLERANCE = 0.05f;
+        const float VELOCITY_TOLERANCE = 0.001f;
+        const float ROTATION_TOLERANCE = 0.01f;
+        const float ANGULARVELOCITY_TOLERANCE = 0.01f;
+
+        public SimMotionState(BSAPIXNA pWorld, uint id, IndexedMatrix starTransform, object frameUpdates)
+        {
+            IndexedQuaternion OrientationQuaterion = starTransform.GetRotation();
+            m_properties = new EntityProperties()
+                               {
+                                   ID = id,
+                                   Position = new Vector3(starTransform._origin.X, starTransform._origin.Y,starTransform._origin.Z),
+                                   Rotation = new Quaternion(OrientationQuaterion.X,OrientationQuaterion.Y,OrientationQuaterion.Z,OrientationQuaterion.W)
+                               };
+            m_lastProperties = new EntityProperties()
+            {
+                ID = id,
+                Position = new Vector3(starTransform._origin.X, starTransform._origin.Y, starTransform._origin.Z),
+                Rotation = new Quaternion(OrientationQuaterion.X, OrientationQuaterion.Y, OrientationQuaterion.Z, OrientationQuaterion.W)
+            };
+            m_world = pWorld;
+            m_xform = starTransform;
+        }
+
+        public override void GetWorldTransform(out IndexedMatrix worldTrans)
+        {
+            worldTrans = m_xform;
+        }
+
+        public override void SetWorldTransform(IndexedMatrix worldTrans)
+        {
+            SetWorldTransform(ref worldTrans);
+        }
+
+        public override void SetWorldTransform(ref IndexedMatrix worldTrans)
+        {
+            SetWorldTransform(ref worldTrans, false);
+        }
+        public void SetWorldTransform(ref IndexedMatrix worldTrans, bool force)
+        {
+            m_xform = worldTrans;
+            // Put the new transform into m_properties
+            IndexedQuaternion OrientationQuaternion = m_xform.GetRotation();
+            IndexedVector3 LinearVelocityVector = Rigidbody.GetLinearVelocity();
+            IndexedVector3 AngularVelocityVector = Rigidbody.GetAngularVelocity();
+            m_properties.Position = new Vector3(m_xform._origin.X, m_xform._origin.Y, m_xform._origin.Z);
+            m_properties.Rotation = new Quaternion(OrientationQuaternion.X, OrientationQuaternion.Y,
+                                                   OrientationQuaternion.Z, OrientationQuaternion.W);
+            // A problem with stock Bullet is that we don't get an event when an object is deactivated.
+            // This means that the last non-zero values for linear and angular velocity
+            // are left in the viewer who does dead reconning and the objects look like
+            // they float off.
+            // BulletSim ships with a patch to Bullet which creates such an event.
+            m_properties.Velocity = new Vector3(LinearVelocityVector.X, LinearVelocityVector.Y, LinearVelocityVector.Z);
+            m_properties.RotationalVelocity = new Vector3(AngularVelocityVector.X, AngularVelocityVector.Y, AngularVelocityVector.Z);
+
+            if (force
+
+                || !AlmostEqual(ref m_lastProperties.Position, ref m_properties.Position, POSITION_TOLERANCE)
+                || !AlmostEqual(ref m_properties.Rotation, ref m_lastProperties.Rotation, ROTATION_TOLERANCE)
+                // If the Velocity and AngularVelocity are zero, most likely the object has
+                //    been deactivated. If they both are zero and they have become zero recently,
+                //    make sure a property update is sent so the zeros make it to the viewer.
+                || ((m_properties.Velocity == ZeroVect && m_properties.RotationalVelocity == ZeroVect)
+                    &&
+                    (m_properties.Velocity != m_lastProperties.Velocity ||
+                     m_properties.RotationalVelocity != m_lastProperties.RotationalVelocity))
+                //      If Velocity and AngularVelocity are non-zero but have changed, send an update.
+                || !AlmostEqual(ref m_properties.Velocity, ref m_lastProperties.Velocity, VELOCITY_TOLERANCE)
+                ||
+                !AlmostEqual(ref m_properties.RotationalVelocity, ref m_lastProperties.RotationalVelocity,
+                             ANGULARVELOCITY_TOLERANCE)
+                )
+
+
+            {
+                // Add this update to the list of updates for this frame.
+                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)
+        {
+            Rigidbody = body;
+        }
+        internal static bool AlmostEqual(ref Vector3 v1, ref Vector3 v2, float nEpsilon)
+        {
+            return
+            (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) &&
+            (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) &&
+            (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon)));
+        }
+
+        internal static bool AlmostEqual(ref Quaternion v1, ref Quaternion v2, float nEpsilon)
+        {
+            return
+            (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) &&
+            (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) &&
+            (((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/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
new file mode 100644
index 0000000..3f83ef0
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -0,0 +1,656 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Security;
+using System.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin {
+
+    // Constraint type values as defined by Bullet
+public enum ConstraintType : int
+{
+        POINT2POINT_CONSTRAINT_TYPE = 3,
+        HINGE_CONSTRAINT_TYPE,
+        CONETWIST_CONSTRAINT_TYPE,
+        D6_CONSTRAINT_TYPE,
+        SLIDER_CONSTRAINT_TYPE,
+        CONTACT_CONSTRAINT_TYPE,
+        D6_SPRING_CONSTRAINT_TYPE,
+        MAX_CONSTRAINT_TYPE
+}
+
+// ===============================================================================
+[StructLayout(LayoutKind.Sequential)]
+public struct ConvexHull
+{
+        Vector3 Offset;
+        int VertexCount;
+        Vector3[] Vertices;
+}
+public enum BSPhysicsShapeType
+{
+        SHAPE_UNKNOWN   = 0,
+        SHAPE_CAPSULE   = 1,
+        SHAPE_BOX       = 2,
+        SHAPE_CONE      = 3,
+        SHAPE_CYLINDER  = 4,
+        SHAPE_SPHERE    = 5,
+        SHAPE_MESH      = 6,
+        SHAPE_HULL      = 7,
+    // following defined by BulletSim
+        SHAPE_GROUNDPLANE  = 20,
+        SHAPE_TERRAIN   = 21,
+        SHAPE_COMPOUND  = 22,
+        SHAPE_HEIGHTMAP = 23,
+    SHAPE_AVATAR    = 24,
+};
+
+// The native shapes have predefined shape hash keys
+public enum FixedShapeKey : ulong
+{
+    KEY_NONE        = 0,
+    KEY_BOX         = 1,
+    KEY_SPHERE      = 2,
+    KEY_CONE        = 3,
+    KEY_CYLINDER    = 4,
+    KEY_CAPSULE     = 5,
+    KEY_AVATAR      = 6,
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct ShapeData
+{
+    public UInt32 ID;
+    public BSPhysicsShapeType Type;
+    public Vector3 Position;
+    public Quaternion Rotation;
+    public Vector3 Velocity;
+    public Vector3 Scale;
+    public float Mass;
+    public float Buoyancy;
+    public System.UInt64 HullKey;
+    public System.UInt64 MeshKey;
+    public float Friction;
+    public float Restitution;
+    public float Collidable;    // true of things bump into this
+    public float Static;        // true if a static object. Otherwise gravity, etc.
+    public float Solid;         // true if object cannot be passed through
+    public Vector3 Size;
+
+    // note that bools are passed as floats since bool size changes by language and architecture
+    public const float numericTrue = 1f;
+    public const float numericFalse = 0f;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct SweepHit
+{
+    public UInt32 ID;
+    public float Fraction;
+    public Vector3 Normal;
+    public Vector3 Point;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct RaycastHit
+{
+    public UInt32 ID;
+    public float Fraction;
+    public Vector3 Normal;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct CollisionDesc
+{
+    public UInt32 aID;
+    public UInt32 bID;
+    public Vector3 point;
+    public Vector3 normal;
+    public float penetration;
+}
+[StructLayout(LayoutKind.Sequential)]
+public struct EntityProperties
+{
+    public UInt32 ID;
+    public Vector3 Position;
+    public Quaternion Rotation;
+    public Vector3 Velocity;
+    public Vector3 Acceleration;
+    public Vector3 RotationalVelocity;
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<i=");
+        buff.Append(ID.ToString());
+        buff.Append(",p=");
+        buff.Append(Position.ToString());
+        buff.Append(",r=");
+        buff.Append(Rotation.ToString());
+        buff.Append(",v=");
+        buff.Append(Velocity.ToString());
+        buff.Append(",a=");
+        buff.Append(Acceleration.ToString());
+        buff.Append(",rv=");
+        buff.Append(RotationalVelocity.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
+}
+
+// Format of this structure must match the definition in the C++ code
+// NOTE: adding the X causes compile breaks if used. These are unused symbols
+//      that can be removed from both here and the unmanaged definition of this structure.
+[StructLayout(LayoutKind.Sequential)]
+public struct ConfigurationParameters
+{
+    public float defaultFriction;
+    public float defaultDensity;
+    public float defaultRestitution;
+    public float collisionMargin;
+    public float gravity;
+
+        public float maxPersistantManifoldPoolSize;
+        public float maxCollisionAlgorithmPoolSize;
+        public float shouldDisableContactPoolDynamicAllocation;
+        public float shouldForceUpdateAllAabbs;
+        public float shouldRandomizeSolverOrder;
+        public float shouldSplitSimulationIslands;
+        public float shouldEnableFrictionCaching;
+        public float numberOfSolverIterations;
+    public float useSingleSidedMeshes;
+        public float globalContactBreakingThreshold;
+
+    public float physicsLoggingFrames;
+
+    public const float numericTrue = 1f;
+    public const float numericFalse = 0f;
+}
+
+
+// The states a bullet collision object can have
+public enum ActivationState : uint
+{
+    ACTIVE_TAG = 1,
+    ISLAND_SLEEPING,
+    WANTS_DEACTIVATION,
+    DISABLE_DEACTIVATION,
+    DISABLE_SIMULATION,
+}
+
+public enum CollisionObjectTypes : int
+{
+    CO_COLLISION_OBJECT             = 1 << 0,
+    CO_RIGID_BODY                   = 1 << 1,
+    CO_GHOST_OBJECT                 = 1 << 2,
+    CO_SOFT_BODY                    = 1 << 3,
+    CO_HF_FLUID                     = 1 << 4,
+    CO_USER_TYPE                    = 1 << 5,
+}
+
+// Values used by Bullet and BulletSim to control object properties.
+// Bullet's "CollisionFlags" has more to do with operations on the
+//    object (if collisions happen, if gravity effects it, ...).
+public enum CollisionFlags : uint
+{
+    CF_STATIC_OBJECT                 = 1 << 0,
+    CF_KINEMATIC_OBJECT              = 1 << 1,
+    CF_NO_CONTACT_RESPONSE           = 1 << 2,
+    CF_CUSTOM_MATERIAL_CALLBACK      = 1 << 3,
+    CF_CHARACTER_OBJECT              = 1 << 4,
+    CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
+    CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
+    // Following used by BulletSim to control collisions and updates
+    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10, // return collision events from unmanaged to managed
+    BS_FLOATS_ON_WATER               = 1 << 11, // the object should float at water level
+    BS_VEHICLE_COLLISIONS            = 1 << 12, // return collisions for vehicle ground checking
+    BS_RETURN_ROOT_COMPOUND_SHAPE    = 1 << 13, // return the pos/rot of the root shape in a compound shape
+    BS_NONE                          = 0,
+    BS_ALL                           = 0xFFFFFFFF
+};
+
+// Values f collisions groups and masks
+public enum CollisionFilterGroups : uint
+{
+    // Don't use the bit definitions!!  Define the use in a
+    //   filter/mask definition below. This way collision interactions
+    //   are more easily found and debugged.
+    BNoneGroup              = 0,
+    BDefaultGroup           = 1 << 0,   // 0001
+    BStaticGroup            = 1 << 1,   // 0002
+    BKinematicGroup         = 1 << 2,   // 0004
+    BDebrisGroup            = 1 << 3,   // 0008
+    BSensorTrigger          = 1 << 4,   // 0010
+    BCharacterGroup         = 1 << 5,   // 0020
+    BAllGroup               = 0x000FFFFF,
+    // Filter groups defined by BulletSim
+    BGroundPlaneGroup       = 1 << 10,  // 0400
+    BTerrainGroup           = 1 << 11,  // 0800
+    BRaycastGroup           = 1 << 12,  // 1000
+    BSolidGroup             = 1 << 13,  // 2000
+    // BLinksetGroup        = xx  // a linkset proper is either static or dynamic
+    BLinksetChildGroup      = 1 << 14,  // 4000
+};
+
+// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
+// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
+public enum ConstraintParams : int
+{
+    BT_CONSTRAINT_ERP = 1,  // this one is not used in Bullet as of 20120730
+    BT_CONSTRAINT_STOP_ERP,
+    BT_CONSTRAINT_CFM,
+    BT_CONSTRAINT_STOP_CFM,
+};
+public enum ConstraintParamAxis : int
+{
+    AXIS_LINEAR_X = 0,
+    AXIS_LINEAR_Y,
+    AXIS_LINEAR_Z,
+    AXIS_ANGULAR_X,
+    AXIS_ANGULAR_Y,
+    AXIS_ANGULAR_Z,
+    AXIS_LINEAR_ALL = 20,    // these last three added by BulletSim so we don't have to do zillions of calls
+    AXIS_ANGULAR_ALL,
+    AXIS_ALL
+};
+
+public abstract class BSAPITemplate
+{
+// Returns the name of the underlying Bullet engine
+public abstract string BulletEngineName { get; }
+public abstract string BulletEngineVersion { get; protected set;} 
+
+// Initialization and simulation
+public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
+                                                                                        int maxCollisions,  ref CollisionDesc[] collisionArray,
+                                                                                        int maxUpdates, ref EntityProperties[] updateArray
+                                            );
+
+public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount, out int collidersCount);
+
+public abstract bool UpdateParameter(BulletWorld world, UInt32 localID, String parm, float value);
+
+public abstract void Shutdown(BulletWorld sim);
+
+public abstract bool PushUpdate(BulletBody obj);
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+public abstract BulletShape CreateMeshShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices );
+
+public abstract BulletShape CreateHullShape(BulletWorld world,
+                int hullCount, float[] hulls);
+
+public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
+
+public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
+
+public abstract bool IsNativeShape(BulletShape shape);
+
+public abstract void SetShapeCollisionMargin(BulletShape shape, float margin);
+
+public abstract BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale);
+
+public abstract BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree);
+
+public abstract int GetNumberOfCompoundChildren(BulletShape cShape);
+
+public abstract void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot);
+
+public abstract BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
+
+public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
+
+public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape);
+
+public abstract void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
+
+public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
+
+public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, UInt32 id);
+
+public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
+
+public abstract CollisionObjectTypes GetBodyType(BulletBody obj);
+
+public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
+
+public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
+
+public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
+
+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, 
+                                                                float scaleFactor, float collisionMargin);
+
+// =====================================================================================
+// Constraint creation and helper routines
+public abstract BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
+
+public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
+
+public abstract bool SetFrames(BulletConstraint constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
+
+public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
+
+public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
+
+public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
+
+public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
+
+public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
+
+public abstract bool CalculateTransforms(BulletConstraint constrain);
+
+public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+
+public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
+
+// =====================================================================================
+// btCollisionWorld entries
+public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
+
+public abstract void UpdateAabbs(BulletWorld world);
+
+public abstract bool GetForceUpdateAllAabbs(BulletWorld world);
+
+public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
+
+// =====================================================================================
+// btDynamicsWorld entries
+// public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot);
+public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
+
+public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
+
+public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
+
+public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
+// =====================================================================================
+// btCollisionObject entries
+public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
+
+public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
+
+public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
+
+public abstract void SetContactProcessingThreshold(BulletBody obj, float val);
+
+public abstract float GetContactProcessingThreshold(BulletBody obj);
+
+public abstract bool IsStaticObject(BulletBody obj);
+
+public abstract bool IsKinematicObject(BulletBody obj);
+
+public abstract bool IsStaticOrKinematicObject(BulletBody obj);
+
+public abstract bool HasContactResponse(BulletBody obj);
+
+public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
+
+public abstract BulletShape GetCollisionShape(BulletBody obj);
+
+public abstract int GetActivationState(BulletBody obj);
+
+public abstract void SetActivationState(BulletBody obj, int state);
+
+public abstract void SetDeactivationTime(BulletBody obj, float dtime);
+
+public abstract float GetDeactivationTime(BulletBody obj);
+
+public abstract void ForceActivationState(BulletBody obj, ActivationState state);
+
+public abstract void Activate(BulletBody obj, bool forceActivation);
+
+public abstract bool IsActive(BulletBody obj);
+
+public abstract void SetRestitution(BulletBody obj, float val);
+
+public abstract float GetRestitution(BulletBody obj);
+
+public abstract void SetFriction(BulletBody obj, float val);
+
+public abstract float GetFriction(BulletBody obj);
+
+public abstract Vector3 GetPosition(BulletBody obj);
+
+public abstract Quaternion GetOrientation(BulletBody obj);
+
+public abstract void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation);
+
+// public abstract IntPtr GetBroadphaseHandle(BulletBody obj);
+
+// public abstract void SetBroadphaseHandle(BulletBody obj, IntPtr handle);
+
+public abstract void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel);
+
+public abstract void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel);
+
+public abstract void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
+
+public abstract float GetHitFraction(BulletBody obj);
+
+public abstract void SetHitFraction(BulletBody obj, float val);
+
+public abstract CollisionFlags GetCollisionFlags(BulletBody obj);
+
+public abstract CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public abstract CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public abstract CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public abstract float GetCcdMotionThreshold(BulletBody obj);
+
+public abstract void SetCcdMotionThreshold(BulletBody obj, float val);
+
+public abstract float GetCcdSweptSphereRadius(BulletBody obj);
+
+public abstract void SetCcdSweptSphereRadius(BulletBody obj, float val);
+
+public abstract IntPtr GetUserPointer(BulletBody obj);
+
+public abstract void SetUserPointer(BulletBody obj, IntPtr val);
+
+// =====================================================================================
+// btRigidBody entries
+public abstract void ApplyGravity(BulletBody obj);
+
+public abstract void SetGravity(BulletBody obj, Vector3 val);
+
+public abstract Vector3 GetGravity(BulletBody obj);
+
+public abstract void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
+
+public abstract void SetLinearDamping(BulletBody obj, float lin_damping);
+
+public abstract void SetAngularDamping(BulletBody obj, float ang_damping);
+
+public abstract float GetLinearDamping(BulletBody obj);
+
+public abstract float GetAngularDamping(BulletBody obj);
+
+public abstract float GetLinearSleepingThreshold(BulletBody obj);
+
+public abstract void ApplyDamping(BulletBody obj, float timeStep);
+
+public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
+
+public abstract Vector3 GetLinearFactor(BulletBody obj);
+
+public abstract void SetLinearFactor(BulletBody obj, Vector3 factor);
+
+public abstract void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
+
+// Add a force to the object as if its mass is one.
+public abstract void ApplyCentralForce(BulletBody obj, Vector3 force);
+
+// Set the force being applied to the object as if its mass is one.
+public abstract void SetObjectForce(BulletBody obj, Vector3 force);
+
+public abstract Vector3 GetTotalForce(BulletBody obj);
+
+public abstract Vector3 GetTotalTorque(BulletBody obj);
+
+public abstract Vector3 GetInvInertiaDiagLocal(BulletBody obj);
+
+public abstract void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
+
+public abstract void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
+
+public abstract void ApplyTorque(BulletBody obj, Vector3 torque);
+
+// Apply force at the given point. Will add torque to the object.
+public abstract void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+public abstract void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+public abstract void ApplyTorqueImpulse(BulletBody obj, Vector3 imp);
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+public abstract void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
+
+public abstract void ClearForces(BulletBody obj);
+
+public abstract void ClearAllForces(BulletBody obj);
+
+public abstract void UpdateInertiaTensor(BulletBody obj);
+
+public abstract Vector3 GetLinearVelocity(BulletBody obj);
+
+public abstract Vector3 GetAngularVelocity(BulletBody obj);
+
+public abstract void SetLinearVelocity(BulletBody obj, Vector3 val);
+
+public abstract void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
+
+public abstract Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
+
+public abstract void Translate(BulletBody obj, Vector3 trans);
+
+public abstract void UpdateDeactivation(BulletBody obj, float timeStep);
+
+public abstract bool WantsSleeping(BulletBody obj);
+
+public abstract void SetAngularFactor(BulletBody obj, float factor);
+
+public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor);
+
+public abstract Vector3 GetAngularFactor(BulletBody obj);
+
+public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
+
+public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index);
+
+public abstract int GetNumConstraintRefs(BulletBody obj);
+
+public abstract bool SetCollisionGroupMask(BulletBody body, UInt32 filter, UInt32 mask);
+
+// =====================================================================================
+// btCollisionShape entries
+
+public abstract float GetAngularMotionDisc(BulletShape shape);
+
+public abstract float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
+
+public abstract bool IsPolyhedral(BulletShape shape);
+
+public abstract bool IsConvex2d(BulletShape shape);
+
+public abstract bool IsConvex(BulletShape shape);
+
+public abstract bool IsNonMoving(BulletShape shape);
+
+public abstract bool IsConcave(BulletShape shape);
+
+public abstract bool IsCompound(BulletShape shape);
+
+public abstract bool IsSoftBody(BulletShape shape);
+
+public abstract bool IsInfinite(BulletShape shape);
+
+public abstract void SetLocalScaling(BulletShape shape, Vector3 scale);
+
+public abstract Vector3 GetLocalScaling(BulletShape shape);
+
+public abstract Vector3 CalculateLocalInertia(BulletShape shape, float mass);
+
+public abstract int GetShapeType(BulletShape shape);
+
+public abstract void SetMargin(BulletShape shape, float val);
+
+public abstract float GetMargin(BulletShape shape);
+
+// =====================================================================================
+// Debugging
+public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { }
+
+public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape) { }
+
+public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain) { }
+
+public virtual void DumpActivationInfo(BulletWorld sim) { }
+
+public virtual void DumpAllInfo(BulletWorld sim) { }
+
+public virtual void DumpPhysicsStatistics(BulletWorld sim) { }
+
+public virtual void ResetBroadphasePool(BulletWorld sim) { }
+
+public virtual void ResetConstraintSolver(BulletWorld sim) { }
+
+};
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 4c195e1..8dca7c6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -45,7 +45,6 @@ public sealed class BSCharacter : BSPhysObject
     private bool _selected;
     private OMV.Vector3 _position;
     private float _mass;
-    private float _avatarDensity;
     private float _avatarVolume;
     private OMV.Vector3 _force;
     private OMV.Vector3 _velocity;
@@ -58,16 +57,12 @@ public sealed class BSCharacter : BSPhysObject
     private bool _flying;
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
-    private bool _isColliding;
-    private bool _collidingObj;
     private bool _floatOnWater;
     private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
 
-    // The friction and velocity of the avatar is modified depending on whether walking or not.
-    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
-    private float _currentFriction;         // the friction currently being used (changed by setVelocity).
+    private BSVMotor _velocityMotor;
 
     private OMV.Vector3 _PIDTarget;
     private bool _usePID;
@@ -83,34 +78,36 @@ public sealed class BSCharacter : BSPhysObject
         _physicsActorType = (int)ActorTypes.Agent;
         _position = pos;
 
-        // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
-        //     replace with the default values.
-        _size = size;
-        if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth;
-        if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth;
-
         _flying = isFlying;
         _orientation = OMV.Quaternion.Identity;
         _velocity = OMV.Vector3.Zero;
-        _appliedVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
-        _currentFriction = PhysicsScene.Params.avatarStandingFriction;
-        _avatarDensity = PhysicsScene.Params.avatarDensity;
+        Friction = BSParam.AvatarStandingFriction;
+        Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
 
-        // The dimensions of the avatar capsule are kept in the scale.
+        // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
+        //     replace with the default values.
+        _size = size;
+        if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
+        if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
+
+        // The dimensions of the physical capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
-        ComputeAvatarScale(_size);
+        Scale = ComputeAvatarScale(_size);
         // set _avatarVolume and _mass based on capsule size, _density and Scale
         ComputeAvatarVolumeAndMass();
+
+        SetupMovementMotor();
+
         DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
+                            LocalID, _size, Scale, Density, _avatarVolume, RawMass);
 
-        // do actual create at taint time
+        // do actual creation in taint time
         PhysicsScene.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, null, null);
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
 
             SetPhysicalProperties();
         });
@@ -120,54 +117,213 @@ public sealed class BSCharacter : BSPhysObject
     // called when this character is being destroyed and the resources should be released
     public override void Destroy()
     {
+        base.Destroy();
+
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */);
+            PhysBody.Clear();
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, null /* bodyCallback */);
+            PhysShape.Clear();
         });
     }
 
     private void SetPhysicalProperties()
     {
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
 
         ZeroMotion(true);
         ForcePosition = _position;
-        // Set the velocity and compute the proper friction
+
+        // Set the velocity
+        _velocityMotor.Reset();
+        _velocityMotor.SetTarget(_velocity);
+        _velocityMotor.SetCurrent(_velocity);
         ForceVelocity = _velocity;
 
         // This will enable or disable the flying buoyancy of the avatar.
         // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
         Flying = _flying;
 
-        BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution);
-        BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
-        BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
-        if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+        PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
+        PhysicsScene.PE.SetMargin(PhysShape, PhysicsScene.Params.collisionMargin);
+        PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
+        PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
+        if (BSParam.CcdMotionThreshold > 0f)
         {
-            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+            PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
         }
 
-        UpdatePhysicalMassProperties(RawMass);
+        UpdatePhysicalMassProperties(RawMass, false);
 
         // Make so capsule does not fall over
-        BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
+        PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
 
-        BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
+        PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
 
-        // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
-        BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
+        // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
+        PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
 
         // Do this after the object has been added to the world
-        BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr,
-                        (uint)CollisionFilterGroups.AvatarFilter,
-                        (uint)CollisionFilterGroups.AvatarMask);
+        PhysBody.collisionType = CollisionType.Avatar;
+        PhysBody.ApplyCollisionMask(PhysicsScene);
+    }
+
+    // The avatar's movement is controlled by this motor that speeds up and slows down
+    //    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.
+    private void SetupMovementMotor()
+    {
+        // Infinite decay and timescale values so motor only changes current to target values.
+        _velocityMotor = new BSVMotor("BSCharacter.Velocity", 
+                                            0.2f,                       // time scale
+                                            BSMotor.Infinite,           // decay time scale
+                                            BSMotor.InfiniteVector,     // friction timescale
+                                            1f                          // efficiency
+        );
+        // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
+        RegisterPreStepAction("BSCharactor.Movement", LocalID, delegate(float timeStep)
+        {
+            // TODO: Decide if the step parameters should be changed depending on the avatar's
+            //     state (flying, colliding, ...). There is code in ODE to do this.
+
+            // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity
+            //   specified for the avatar is the one that should be used. For falling, if the avatar
+            //   is not flying and is not colliding then it is presumed to be falling and the Z
+            //   component is not fooled with (thus allowing gravity to do its thing).
+            // When the avatar is standing, though, the user has specified a velocity of zero and
+            //   the avatar should be standing. But if the avatar is pushed by something in the world
+            //   (raising elevator platform, moving vehicle, ...) the avatar should be allowed to
+            //   move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
+            //   errors can creap in and the avatar will slowly float off in some direction.
+            // So, the problem is that, when an avatar is standing, we cannot tell creaping error
+            //   from real pushing.OMV.Vector3.Zero;
+            // The code below keeps setting the velocity to zero hoping the world will keep pushing.
+
+            _velocityMotor.Step(timeStep);
+
+            // If we're not supposed to be moving, make sure things are zero.
+            if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero)
+            {
+                // The avatar shouldn't be moving
+                _velocityMotor.Zero();
+
+                if (IsColliding)
+                {
+                    // If we are colliding with a stationary object, presume we're standing and don't move around
+                    if (!ColliderIsMoving)
+                    {
+                        DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID);
+                        ZeroMotion(true /* inTaintTime */);
+                    }
+
+                    // Standing has more friction on the ground
+                    if (Friction != BSParam.AvatarStandingFriction)
+                    {
+                        Friction = BSParam.AvatarStandingFriction;
+                        PhysicsScene.PE.SetFriction(PhysBody, Friction);
+                    }
+                }
+                else
+                {
+                    if (Flying)
+                    {
+                        // Flying and not collising and velocity nearly zero.
+                        ZeroMotion(true /* inTaintTime */);
+                    }
+                }
+
+                DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding);
+            }
+            else
+            {
+                OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue;
+
+                if (Friction != BSParam.AvatarFriction)
+                {
+                    // Probably starting up walking. Set friction to moving friction.
+                    Friction = BSParam.AvatarFriction;
+                    PhysicsScene.PE.SetFriction(PhysBody, Friction);
+                }
+
+                // If falling, we keep the world's downward vector no matter what the other axis specify.
+                if (!Flying && !IsColliding)
+                {
+                    stepVelocity.Z = _velocity.Z;
+                    // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
+                }
+
+                // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
+                OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass;
+
+                // Should we check for move force being small and forcing velocity to zero?
+
+                // Add special movement force to allow avatars to walk up stepped surfaces.
+                moveForce += WalkUpStairs();
+
+                DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
+                PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
+            }
+        });
+    }
+
+    // Decide of the character is colliding with a low object and compute a force to pop the
+    //    avatar up so it has a chance of walking up and over the low object.
+    private OMV.Vector3 WalkUpStairs()
+    {
+        OMV.Vector3 ret = OMV.Vector3.Zero;
+
+        // This test is done if moving forward, not flying and is colliding with something.
+        // DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}",
+        //                 LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count);
+        if (IsColliding && !Flying && TargetVelocitySpeed > 0.1f /* && ForwardSpeed < 0.1f */)
+        {
+            // The range near the character's feet where we will consider stairs
+            float nearFeetHeightMin = RawPosition.Z - (Size.Z / 2f) + 0.05f;
+            float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight;
+
+            // Look for a collision point that is near the character's feet and is oriented the same as the charactor is
+            foreach (KeyValuePair<uint, ContactPoint> kvp in CollisionsLastTick.m_objCollisionList)
+            {
+                // Don't care about collisions with the terrain
+                if (kvp.Key > PhysicsScene.TerrainManager.HighestTerrainID)
+                {
+                    OMV.Vector3 touchPosition = kvp.Value.Position;
+                    // DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}",
+                    //                 LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition);
+                    if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax)
+                    {
+                        // This contact is within the 'near the feet' range.
+                        // The normal should be our contact point to the object so it is pointing away
+                        //    thus the difference between our facing orientation and the normal should be small.
+                        OMV.Vector3 directionFacing = OMV.Vector3.UnitX * RawOrientation;
+                        OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal);
+                        float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal));
+                        if (diff < BSParam.AvatarStepApproachFactor)
+                        {
+                            // Found the stairs contact point. Push up a little to raise the character.
+                            float upForce = (touchPosition.Z - nearFeetHeightMin) * Mass * BSParam.AvatarStepForceFactor;
+                            ret = new OMV.Vector3(0f, 0f, upForce);
+
+                            // Also move the avatar up for the new height
+                            OMV.Vector3 displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight / 2f);
+                            ForcePosition = RawPosition + displacement;
+                        }
+                        DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},faceDir={3},norm={4},diff={5},ret={6}",
+                                LocalID, touchPosition, nearFeetHeightMin, directionFacing, touchNormal, diff, ret);
+                    }
+                }
+            }
+        }
+
+        return ret;
     }
 
     public override void RequestPhysicsterseUpdate()
@@ -185,24 +341,31 @@ public sealed class BSCharacter : BSPhysObject
         }
 
         set {
-            // When an avatar's size is set, only the height is changed.
             _size = value;
-            ComputeAvatarScale(_size);
+            // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
+            //     replace with the default values.
+            if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
+            if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
+
+            Scale = ComputeAvatarScale(_size);
             ComputeAvatarVolumeAndMass();
             DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
+                            LocalID, _size, Scale, Density, _avatarVolume, RawMass);
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-                UpdatePhysicalMassProperties(RawMass);
+                if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
+                {
+                    PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
+                    UpdatePhysicalMassProperties(RawMass, true);
+                    // Make sure this change appears as a property update event
+                    PhysicsScene.PE.PushUpdate(PhysBody);
+                }
             });
 
         }
     }
 
-    public override OMV.Vector3 Scale { get; set; }
-
     public override PrimitiveBaseShape Shape
     {
         set { BaseShape = value; }
@@ -219,6 +382,10 @@ public sealed class BSCharacter : BSPhysObject
     public override bool Selected {
         set { _selected = value; }
     }
+    public override bool IsSelected
+    {
+        get { return _selected; }
+    }
     public override void CrossingFailure() { return; }
     public override void link(PhysicsActor obj) { return; }
     public override void delink() { return; }
@@ -236,7 +403,8 @@ public sealed class BSCharacter : BSPhysObject
         // Zero some other properties directly into the physics engine
         PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
         {
-            BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+            if (PhysBody.HasPhysicalBody)
+                PhysicsScene.PE.ClearAllForces(PhysBody);
         });
     }
     public override void ZeroAngularMotion(bool inTaintTime)
@@ -245,10 +413,13 @@ public sealed class BSCharacter : BSPhysObject
 
         PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
         {
-            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-            // The next also get rid of applied linear force but the linear velocity is untouched.
-            BulletSimAPI.ClearForces2(PhysBody.ptr);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
+                PhysicsScene.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);
+            }
         });
     }
 
@@ -263,29 +434,31 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 Position {
         get {
             // Don't refetch the position because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
+            // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID);
             return _position;
         }
         set {
             _position = value;
-            PositionSanityCheck();
 
             PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                ForcePosition = _position;
             });
         }
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            _position = PhysicsScene.PE.GetPosition(PhysBody);
             return _position;
         }
         set {
             _position = value;
-            PositionSanityCheck();
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PositionSanityCheck();
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+            }
         }
     }
 
@@ -297,8 +470,17 @@ public sealed class BSCharacter : BSPhysObject
     {
         bool ret = false;
 
+        // TODO: check for out of bounds
+        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
+        {
+            // The character is out of the known/simulated area.
+            // Upper levels of code will handle the transition to other areas so, for
+            //     the time, we just ignore the position.
+            return ret;
+        }
+
         // If below the ground, move the avatar up
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
         if (Position.Z < terrainHeight)
         {
             DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
@@ -307,7 +489,7 @@ public sealed class BSCharacter : BSPhysObject
         }
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
-            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
             if (Position.Z < waterHeight)
             {
                 _position.Z = waterHeight;
@@ -315,7 +497,6 @@ public sealed class BSCharacter : BSPhysObject
             }
         }
 
-        // TODO: check for out of bounds
         return ret;
     }
 
@@ -332,7 +513,8 @@ public sealed class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                if (PhysBody.HasPhysicalBody)
+                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
             });
             ret = true;
         }
@@ -345,10 +527,10 @@ public sealed class BSCharacter : BSPhysObject
     public override float RawMass { 
         get {return _mass; }
     }
-    public override void UpdatePhysicalMassProperties(float physMass)
+    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
     {
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-        BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
+        OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
+        PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia);
     }
 
     public override OMV.Vector3 Force {
@@ -359,7 +541,8 @@ public sealed class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
+                if (PhysBody.HasPhysicalBody)
+                    PhysicsScene.PE.SetObjectForce(PhysBody, _force);
             });
         }
     }
@@ -376,6 +559,37 @@ public sealed class BSCharacter : BSPhysObject
 
     public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
     public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
+
+    // Sets the target in the motor. This starts the changing of the avatar's velocity.
+    public override OMV.Vector3 TargetVelocity
+    {
+        get
+        {
+            return m_targetVelocity;
+        }
+        set
+        {
+            DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
+            m_targetVelocity = value;
+            OMV.Vector3 targetVel = value;
+            if (_setAlwaysRun)
+                targetVel *= BSParam.AvatarAlwaysRunFactor;
+
+            PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
+            {
+                _velocityMotor.Reset();
+                _velocityMotor.SetTarget(targetVel);
+                _velocityMotor.SetCurrent(_velocity);
+                _velocityMotor.Enabled = true;
+            });
+        }
+    }
+    public override OMV.Vector3 RawVelocity
+    {
+        get { return _velocity; }
+        set { _velocity = value; }
+    }
+    // Directly setting velocity means this is what the user really wants now.
     public override OMV.Vector3 Velocity {
         get { return _velocity; }
         set {
@@ -383,6 +597,11 @@ public sealed class BSCharacter : BSPhysObject
             // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
             PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
+                _velocityMotor.Reset();
+                _velocityMotor.SetCurrent(_velocity);
+                _velocityMotor.SetTarget(_velocity);
+                _velocityMotor.Enabled = false;
+
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
                 ForceVelocity = _velocity;
             });
@@ -391,30 +610,11 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 ForceVelocity {
         get { return _velocity; }
         set {
-            // Depending on whether the avatar is moving or not, change the friction
-            //    to keep the avatar from slipping around
-            if (_velocity.Length() == 0)
-            {
-                if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
-                {
-                    _currentFriction = PhysicsScene.Params.avatarStandingFriction;
-                    BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
-                }
-            }
-            else
-            {
-                if (_currentFriction != PhysicsScene.Params.avatarFriction)
-                {
-                    _currentFriction = PhysicsScene.Params.avatarFriction;
-                    BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
-                }
-            }
-            _velocity = value;
-            // Remember the set velocity so we can suppress the reduction by friction, ...
-            _appliedVelocity = value;
+            PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
 
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-            BulletSimAPI.Activate2(PhysBody.ptr, true);
+            _velocity = value;
+            PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
+            PhysicsScene.PE.Activate(PhysBody, true);
         }
     }
     public override OMV.Vector3 Torque {
@@ -439,13 +639,16 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Quaternion Orientation {
         get { return _orientation; }
         set {
-            _orientation = value;
-            // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
-            PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
+            // Orientation is set zillions of times when an avatar is walking. It's like
+            //      the viewer doesn't trust us.
+            if (_orientation != value)
             {
-                // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-            });
+                _orientation = value;
+                PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
+                {
+                    ForceOrientation = _orientation;
+                });
+            }
         }
     }
     // Go directly to Bullet to get/set the value.
@@ -453,13 +656,17 @@ public sealed class BSCharacter : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
             return _orientation;
         }
         set
         {
             _orientation = value;
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            if (PhysBody.HasPhysicalBody)
+            {
+                // _position = PhysicsScene.PE.GetPosition(BSBody);
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+            }
         }
     }
     public override int PhysicsActorType {
@@ -478,10 +685,14 @@ public sealed class BSCharacter : BSPhysObject
     public override bool IsStatic {
         get { return false; }
     }
+    public override bool IsPhysicallyActive {
+        get { return true; }
+    }
     public override bool Flying {
         get { return _flying; }
         set {
             _flying = value;
+
             // simulate flying by changing the effect of gravity
             Buoyancy = ComputeBuoyancyFromFlying(_flying);
         }
@@ -500,27 +711,18 @@ public sealed class BSCharacter : BSPhysObject
         get { return _throttleUpdates; }
         set { _throttleUpdates = value; }
     }
-    public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
-        set { _isColliding = value; }
-    }
-    public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
-        set { CollidingGround = value; }
-    }
-    public override bool CollidingObj {
-        get { return _collidingObj; }
-        set { _collidingObj = value; }
-    }
     public override bool FloatOnWater {
         set {
             _floatOnWater = value;
             PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
             {
-                if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
-                else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                if (PhysBody.HasPhysicalBody)
+                {
+                    if (_floatOnWater)
+                        CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                    else
+                        CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                }
             });
         }
     }
@@ -549,11 +751,16 @@ public sealed class BSCharacter : BSPhysObject
     }
     public override float ForceBuoyancy {
         get { return _buoyancy; }
-        set { _buoyancy = value;
+        set { 
+            PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
+
+            _buoyancy = value;
             DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Buoyancy is faked by changing the gravity applied to the object
-            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            float  grav = BSParam.Gravity * (1f - _buoyancy);
+            Gravity = new OMV.Vector3(0f, 0f, grav);
+            if (PhysBody.HasPhysicalBody)
+                PhysicsScene.PE.SetGravity(PhysBody, Gravity);
         }
     }
 
@@ -589,24 +796,40 @@ public sealed class BSCharacter : BSPhysObject
     public override float APIDStrength { set { return; } }
     public override float APIDDamping { set { return; } }
 
-    public override void AddForce(OMV.Vector3 force, bool pushforce) {
+    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;
+        AddForce(addForce, pushforce, false);
+    }
+    private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
         if (force.IsFinite())
         {
-            _force.X += force.X;
-            _force.Y += force.Y;
-            _force.Z += force.Z;
-            // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
-            PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
+            float magnitude = force.Length();
+            if (magnitude > BSParam.MaxAddForceMagnitude)
             {
-                DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
+                // Force has a limit
+                force = force / magnitude * BSParam.MaxAddForceMagnitude;
+            }
+
+            OMV.Vector3 addForce = force;
+            // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
+
+            PhysicsScene.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);
+                }
             });
         }
         else
         {
-            m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader);
+            m_log.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID);
+            return;
         }
-        //m_lastUpdateSent = false;
     }
 
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
@@ -614,24 +837,31 @@ public sealed class BSCharacter : BSPhysObject
     public override void SetMomentum(OMV.Vector3 momentum) {
     }
 
-    private void ComputeAvatarScale(OMV.Vector3 size)
+    private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
     {
-        // The 'size' given by the simulator is the mid-point of the avatar
-        //    and X and Y are unspecified.
-
-        OMV.Vector3 newScale = size;
-        // newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
-        // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
-
-        // From the total height, remove the capsule half spheres that are at each end
-        // The 1.15f came from ODE. Not sure what this factors in.
-        // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
+        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
+        //     shape to be the size desired.
+        // So, when creating the scale for the avatar height, we take the passed height
+        //     (size.Z) and remove the caps.
+        // Another oddity of the Bullet capsule implementation is that it presumes the Y
+        //     dimension is the radius of the capsule. Even though some of the code allows
+        //     for a asymmetrical capsule, other parts of the code presume it is cylindrical.
+
+        // Scale is multiplier of radius with one of "0.5"
+        newScale.X = size.X / 2f;
+        newScale.Y = size.Y / 2f;
 
         // The total scale height is the central cylindar plus the caps on the two ends.
-        newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
+        newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2)) / 2f;
+        // If smaller than the endcaps, just fake like we're almost that small
+        if (newScale.Z < 0)
+            newScale.Z = 0.1f;
 
-        // Convert diameters to radii and height to half height -- the way Bullet expects it.
-        Scale = newScale / 2f;
+        return newScale;
     }
 
     // set _avatarVolume and _mass based on capsule size, _density and Scale
@@ -639,16 +869,16 @@ public sealed class BSCharacter : BSPhysObject
     {
         _avatarVolume = (float)(
                         Math.PI
-                        * Scale.X
-                        * Scale.Y    // the area of capsule cylinder
-                        * Scale.Z    // times height of capsule cylinder
+                        * Size.X / 2f
+                        * Size.Y / 2f    // the area of capsule cylinder
+                        * Size.Z         // times height of capsule cylinder
                       + 1.33333333f
                         * Math.PI
-                        * Scale.X
-                        * Math.Min(Scale.X, Scale.Y)
-                        * Scale.Y    // plus the volume of the capsule end caps
+                        * Size.X / 2f
+                        * Math.Min(Size.X, Size.Y) / 2
+                        * Size.Y / 2f    // plus the volume of the capsule end caps
                         );
-        _mass = _avatarDensity * _avatarVolume;
+        _mass = Density * BSParam.DensityScaleFactor * _avatarVolume;
     }
 
     // The physics engine says that properties have updated. Update same and inform
@@ -657,27 +887,29 @@ public sealed class BSCharacter : BSPhysObject
     {
         _position = entprop.Position;
         _orientation = entprop.Rotation;
-        _velocity = entprop.Velocity;
+
+        // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
+        //    and will send agent updates to the clients if velocity changes by more than
+        //    0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
+        //    extra updates.
+        if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f))
+            _velocity = entprop.Velocity;
+
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
+
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
-        PositionSanityCheck(true);
+        if (PositionSanityCheck(true))
+        {
+            entprop.Position = _position;
+        }
 
         // remember the current and last set values
         LastEntityProperties = CurrentEntityProperties;
         CurrentEntityProperties = entprop;
 
-        if (entprop.Velocity != LastEntityProperties.Velocity)
-        {
-            // Changes in the velocity are suppressed in avatars.
-            // That's just the way they are defined.
-            OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
-            _velocity = avVel;
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
-        }
-
         // Tell the linkset about value changes
-        Linkset.UpdateProperties(this);
+        // Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
 
         // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
         // base.RequestPhysicsterseUpdate();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 65fac00..b813974 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -36,7 +36,8 @@ public abstract class BSConstraint : IDisposable
 {
     private static string LogHeader = "[BULLETSIM CONSTRAINT]";
 
-    protected BulletSim m_world;
+    protected BulletWorld m_world;
+    protected BSScene PhysicsScene;
     protected BulletBody m_body1;
     protected BulletBody m_body2;
     protected BulletConstraint m_constraint;
@@ -48,8 +49,10 @@ public abstract class BSConstraint : IDisposable
     public abstract ConstraintType Type { get; }
     public bool IsEnabled { get { return m_enabled; } }
 
-    public BSConstraint()
+    public BSConstraint(BulletWorld world)
     {
+        m_world = world;
+        PhysicsScene = m_world.physicsScene;
     }
 
     public virtual void Dispose()
@@ -57,15 +60,15 @@ public abstract class BSConstraint : IDisposable
         if (m_enabled)
         {
             m_enabled = false;
-            if (m_constraint.ptr != IntPtr.Zero)
+            if (m_constraint.HasPhysicalConstraint)
             {
-                bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
+                bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint);
                 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
                                     BSScene.DetailLogZero,
-                                    m_body1.ID, m_body1.ptr.ToString("X"),
-                                    m_body2.ID, m_body2.ptr.ToString("X"),
+                                    m_body1.ID, m_body1.AddrString,
+                                    m_body2.ID, m_body2.AddrString,
                                     success);
-                m_constraint.ptr = System.IntPtr.Zero;
+                m_constraint.Clear();
             }
         }
     }
@@ -74,7 +77,7 @@ public abstract class BSConstraint : IDisposable
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
+            ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
         return ret;
     }
 
@@ -82,7 +85,7 @@ public abstract class BSConstraint : IDisposable
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
+            ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
         return ret;
     }
 
@@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
+            PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt);
             ret = true;
         }
         return ret;
@@ -103,7 +106,7 @@ public abstract class BSConstraint : IDisposable
         if (m_enabled)
         {
             // Recompute the internal transforms
-            BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
+            PhysicsScene.PE.CalculateTransforms(m_constraint);
             ret = true;
         }
         return ret;
@@ -122,7 +125,7 @@ public abstract class BSConstraint : IDisposable
                 // Setting an object's mass to zero (making it static like when it's selected)
                 //     automatically disables the constraints.
                 // If the link is enabled, be sure to set the constraint itself to enabled.
-                BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true));
+                PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true));
             }
             else
             {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
index 23ef052..ecb1b32 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
@@ -39,51 +39,49 @@ public sealed class BSConstraint6Dof : BSConstraint
     public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
 
     // Create a btGeneric6DofConstraint
-    public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 frame1, Quaternion frame1rot,
                     Vector3 frame2, Quaternion frame2rot,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
+        m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
                                 frame1, frame1rot,
                                 frame2, frame2rot,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
         m_enabled = true;
         world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                             BSScene.DetailLogZero, world.worldID,
-                            obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+                            obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
     }
 
-    public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
-        if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
+        if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
         {
             world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                             BSScene.DetailLogZero, world.worldID,
-                            obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+                            obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
             world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+                            LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
             m_enabled = false;
         }
         else
         {
-            m_constraint = new BulletConstraint(
-                                BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
+            m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
                                     joinPoint,
-                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-            world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
-                                BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
-                                obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
-            if (m_constraint.ptr == IntPtr.Zero)
+                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
+            PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
+                                BSScene.DetailLogZero, world.worldID, m_constraint.AddrString,
+                                obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
+            if (!m_constraint.HasPhysicalConstraint)
             {
                 world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
                                 LogHeader, obj1.ID, obj2.ID);
@@ -101,7 +99,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
+            PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot);
             ret = true;
         }
         return ret;
@@ -112,9 +110,9 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
             ret = true;
         }
         return ret;
@@ -125,7 +123,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
         if (m_enabled)
-            ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
+            ret = PhysicsScene.PE.UseFrameOffset(m_constraint, onOff);
         return ret;
     }
 
@@ -135,7 +133,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
         if (m_enabled)
         {
-            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
+            ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce);
             m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
                             BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
         }
@@ -146,7 +144,7 @@ public sealed class BSConstraint6Dof : BSConstraint
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
+            ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold);
         return ret;
     }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
index a9fd826..2aeff25 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
@@ -41,9 +41,9 @@ public sealed class BSConstraintCollection : IDisposable
     delegate bool ConstraintAction(BSConstraint constrain);
 
     private List<BSConstraint> m_constraints;
-    private BulletSim m_world;
+    private BulletWorld m_world;
 
-    public BSConstraintCollection(BulletSim world)
+    public BSConstraintCollection(BulletWorld world)
     {
         m_world = world;
         m_constraints = new List<BSConstraint>();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
index ed3ffa7..7714a03 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
@@ -36,19 +36,17 @@ public sealed class BSConstraintHinge : BSConstraint
 {
     public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
 
-    public BSConstraintHinge(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 pivotInA, Vector3 pivotInB,
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
-                                pivotInA, pivotInB,
-                                axisInA, axisInB,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+        m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
+                                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 dbc9039..41d353a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -24,28 +24,16 @@
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
-
-/* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to
- * call the BulletSim system.
- */
-/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
- * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
- * ODEPrim.cs contains methods dealing with Prim editing, Prim
- * characteristics and Kinetic motion.
- * ODEDynamics.cs contains methods dealing with Prim Physical motion
- * (dynamics) and the associated settings. Old Linear and angular
- * motors for dynamic motion have been replace with  MoveLinear()
- * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
- * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
- * switch between 'VEHICLE' parameter use and general dynamics
- * settings use.
+ * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
+ * are Copyright (c) 2009 Linden Research, Inc and are used under their license
+ * of Creative Commons Attribution-Share Alike 3.0
+ * (http://creativecommons.org/licenses/by-sa/3.0/).
  */
 
 using System;
 using System.Collections.Generic;
 using System.Reflection;
 using System.Runtime.InteropServices;
-using log4net;
 using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
@@ -80,10 +68,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private Quaternion m_referenceFrame = Quaternion.Identity;
 
         // Linear properties
+        private BSVMotor m_linearMotor = new BSVMotor("LinearMotor");
         private Vector3 m_linearMotorDirection = Vector3.Zero;          // velocity requested by LSL, decayed by time
         private Vector3 m_linearMotorOffset = Vector3.Zero;             // the point of force can be offset from the center
         private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;   // velocity requested by LSL
-        private Vector3 m_newVelocity = Vector3.Zero;                   // velocity computed to be applied to body
         private Vector3 m_linearFrictionTimescale = Vector3.Zero;
         private float m_linearMotorDecayTimescale = 0;
         private float m_linearMotorTimescale = 0;
@@ -93,16 +81,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         // private Vector3 m_linearMotorOffset = Vector3.Zero;
 
         //Angular properties
+        private BSVMotor m_angularMotor = new BSVMotor("AngularMotor");
         private Vector3 m_angularMotorDirection = Vector3.Zero;         // angular velocity requested by LSL motor
         // private int m_angularMotorApply = 0;                            // application frame counter
         private Vector3 m_angularMotorVelocity = Vector3.Zero;          // current angular motor velocity
         private float m_angularMotorTimescale = 0;                      // motor angular velocity ramp up rate
         private float m_angularMotorDecayTimescale = 0;                 // motor angular velocity decay rate
         private Vector3 m_angularFrictionTimescale = Vector3.Zero;      // body angular velocity  decay rate
-        private Vector3 m_lastAngularVelocity = Vector3.Zero;           // what was last applied to body
+        private Vector3 m_lastAngularVelocity = Vector3.Zero;
         private Vector3 m_lastVertAttractor = Vector3.Zero;             // what VA was last applied to body
 
         //Deflection properties
+        private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection");
         private float m_angularDeflectionEfficiency = 0;
         private float m_angularDeflectionTimescale = 0;
         private float m_linearDeflectionEfficiency = 0;
@@ -114,33 +104,68 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private float m_bankingTimescale = 0;
 
         //Hover and Buoyancy properties
+        private BSVMotor m_hoverMotor = new BSVMotor("Hover");
         private float m_VhoverHeight = 0f;
         private float m_VhoverEfficiency = 0f;
         private float m_VhoverTimescale = 0f;
         private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height
-        private float m_VehicleBuoyancy = 0f;           //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
-                    // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
-                    // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
-                    // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
+        // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
+        private float m_VehicleBuoyancy = 0f;
+        private Vector3 m_VehicleGravity = Vector3.Zero;    // Gravity computed when buoyancy set
 
         //Attractor properties
-        private float m_verticalAttractionEfficiency = 1.0f;        // damped
-        private float m_verticalAttractionTimescale = 500f;         // Timescale > 300  means no vert attractor.
+        private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
+        private float m_verticalAttractionEfficiency = 1.0f; // damped
+        private float m_verticalAttractionCutoff = 500f;     // per the documentation
+        // Timescale > cutoff  means no vert attractor.
+        private float m_verticalAttractionTimescale = 510f;
+
+        // Just some recomputed constants:
+        static readonly float PIOverFour = ((float)Math.PI) / 4f;
+        static readonly float PIOverTwo = ((float)Math.PI) / 2f;
+
+        // For debugging, flags to turn on and off individual corrections.
+        public bool enableAngularVerticalAttraction;
+        public bool enableAngularDeflection;
+        public bool enableAngularBanking;
 
         public BSDynamics(BSScene myScene, BSPrim myPrim)
         {
             PhysicsScene = myScene;
             Prim = myPrim;
             Type = Vehicle.TYPE_NONE;
+            SetupVehicleDebugging();
+        }
+
+        // Stopgap debugging enablement. Allows source level debugging but still checking
+        //    in changes by making enablement of debugging flags from INI file.
+        public void SetupVehicleDebugging()
+        {
+            enableAngularVerticalAttraction = true;
+            enableAngularDeflection = false;
+            enableAngularBanking = false;
+            if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse)
+            {
+                enableAngularVerticalAttraction = true;
+                enableAngularDeflection = false;
+                enableAngularBanking = false;
+            }
         }
 
         // Return 'true' if this vehicle is doing vehicle things
         public bool IsActive
         {
-            get { return Type != Vehicle.TYPE_NONE; }
+            get { return (Type != Vehicle.TYPE_NONE && Prim.IsPhysicallyActive); }
         }
 
-        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        // Return 'true' if this a vehicle that should be sitting on the ground
+        public bool IsGroundVehicle
+        {
+            get { return (Type == Vehicle.TYPE_CAR || Type == Vehicle.TYPE_SLED); }
+        }
+
+        #region Vehicle parameter setting
+        public void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
         {
             VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
             switch (pParam)
@@ -152,13 +177,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
                     break;
                 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
-                    m_angularMotorDecayTimescale = Math.Max(pValue, 0.01f);
+                    m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
+                    m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
                     break;
                 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
                     m_angularMotorTimescale = Math.Max(pValue, 0.01f);
+                    m_angularMotor.TimeScale = m_angularMotorTimescale;
                     break;
                 case Vehicle.BANKING_EFFICIENCY:
-                    m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f));
+                    m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
                     break;
                 case Vehicle.BANKING_MIX:
                     m_bankingMix = Math.Max(pValue, 0.01f);
@@ -167,10 +194,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_bankingTimescale = Math.Max(pValue, 0.01f);
                     break;
                 case Vehicle.BUOYANCY:
-                    m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f));
+                    m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
+                    m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy);
                     break;
                 case Vehicle.HOVER_EFFICIENCY:
-                    m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f));
+                    m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
                     break;
                 case Vehicle.HOVER_HEIGHT:
                     m_VhoverHeight = pValue;
@@ -185,33 +213,41 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
                     break;
                 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
-                    m_linearMotorDecayTimescale = Math.Max(pValue, 0.01f);
+                    m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
+                    m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
                     break;
                 case Vehicle.LINEAR_MOTOR_TIMESCALE:
                     m_linearMotorTimescale = Math.Max(pValue, 0.01f);
+                    m_linearMotor.TimeScale = m_linearMotorTimescale;
                     break;
                 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
-                    m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f));
+                    m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f);
+                    m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
                     break;
                 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
                     m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
+                    m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
                     break;
 
                 // These are vector properties but the engine lets you use a single float value to
                 // set all of the components to the same value
                 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
                     m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
-                    // m_angularMotorApply = 100;
+                    m_angularMotor.Zero();
+                    m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
                     m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
                     break;
                 case Vehicle.LINEAR_MOTOR_DIRECTION:
                     m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
                     m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+                    m_linearMotor.SetTarget(m_linearMotorDirection);
                     break;
                 case Vehicle.LINEAR_MOTOR_OFFSET:
                     m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
@@ -227,21 +263,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             {
                 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
                     m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     // Limit requested angular speed to 2 rps= 4 pi rads/sec
-                    pValue.X = Math.Max(-12.56f, Math.Min(pValue.X, 12.56f));
-                    pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f));
-                    pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f));
+                    pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f);
+                    pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
+                    pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
                     m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    // m_angularMotorApply = 100;
+                    m_angularMotor.Zero();
+                    m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
                     m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
                     break;
                 case Vehicle.LINEAR_MOTOR_DIRECTION:
                     m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
                     m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_linearMotor.SetTarget(m_linearMotorDirection);
                     break;
                 case Vehicle.LINEAR_MOTOR_OFFSET:
                     m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
@@ -303,7 +343,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_VhoverEfficiency = 0;
                     m_VhoverTimescale = 0;
                     m_VehicleBuoyancy = 0;
-                    
+
                     m_linearDeflectionEfficiency = 1;
                     m_linearDeflectionTimescale = 1;
 
@@ -319,6 +359,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                     m_referenceFrame = Quaternion.Identity;
                     m_flags = (VehicleFlag)0;
+
                     break;
 
                 case Vehicle.TYPE_SLED:
@@ -351,10 +392,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_bankingMix = 1;
 
                     m_referenceFrame = Quaternion.Identity;
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
-                    m_flags &=
-                         ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
-                           VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
+                                | VehicleFlag.HOVER_TERRAIN_ONLY
+                                | VehicleFlag.HOVER_GLOBAL_HEIGHT
+                                | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP
+                            | VehicleFlag.LIMIT_ROLL_ONLY
+                            | VehicleFlag.LIMIT_MOTOR_UP);
+
                     break;
                 case Vehicle.TYPE_CAR:
                     m_linearMotorDirection = Vector3.Zero;
@@ -498,6 +543,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_bankingEfficiency = 0;
                     m_bankingMix = 0.7f;
                     m_bankingTimescale = 5;
+
                     m_referenceFrame = Quaternion.Identity;
 
                     m_referenceFrame = Quaternion.Identity;
@@ -510,152 +556,467 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                                     | VehicleFlag.HOVER_GLOBAL_HEIGHT);
                     break;
             }
+
+            // Update any physical parameters based on this type.
+            Refresh();
+
+            m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
+                                m_linearMotorDecayTimescale, m_linearFrictionTimescale,
+                                1f);
+            m_linearMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
+
+            m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale,
+                                m_angularMotorDecayTimescale, m_angularFrictionTimescale,
+                                1f);
+            m_angularMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
+
+            /*  Not implemented
+            m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
+                                BSMotor.Infinite, BSMotor.InfiniteVector,
+                                m_verticalAttractionEfficiency);
+            // Z goes away and we keep X and Y
+            m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
+            m_verticalAttractionMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
+             */
+        }
+        #endregion // Vehicle parameter setting
+
+        public void Refresh()
+        {
+            // If asking for a refresh, reset the physical parameters before the next simulation step.
+            PhysicsScene.PostTaintObject("BSDynamics.Refresh", Prim.LocalID, delegate()
+            {
+                SetPhysicalParameters();
+            });
         }
 
         // Some of the properties of this prim may have changed.
         // Do any updating needed for a vehicle
-        public void Refresh()
+        private void SetPhysicalParameters()
         {
             if (IsActive)
             {
-                // Friction effects are handled by this vehicle code
-                BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f);
-                BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f);
-
-                // BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, 0.8f);
-
-                VDetailLog("{0},BSDynamics.Refresh,zeroingFriction and adding damping", Prim.LocalID);
+                // Remember the mass so we don't have to fetch it every step
+                m_vehicleMass = Prim.TotalMass;
+
+                // Friction affects are handled by this vehicle code
+                PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction);
+                PhysicsScene.PE.SetRestitution(Prim.PhysBody, BSParam.VehicleRestitution);
+
+                // Moderate angular movement introduced by Bullet.
+                // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
+                //     Maybe compute linear and angular factor and damping from params.
+                PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, BSParam.VehicleAngularDamping);
+                PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactorV);
+                PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactorV);
+
+                // Vehicles report collision events so we know when it's on the ground
+                PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
+
+                Prim.Inertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass);
+                PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, Prim.Inertia);
+                PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody);
+
+                // Set the gravity for the vehicle depending on the buoyancy
+                // TODO: what should be done if prim and vehicle buoyancy differ?
+                m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy);
+                // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
+                PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero);
+
+                VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
+                        Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity,
+                        BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution,
+                        BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor
+                        );
+            }
+            else
+            {
+                if (Prim.PhysBody.HasPhysicalBody)
+                    PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
             }
         }
 
         public bool RemoveBodyDependencies(BSPhysObject prim)
         {
-            // If active, we need to add our properties back when the body is rebuilt.
+            Refresh();
             return IsActive;
         }
 
-        public void RestoreBodyDependencies(BSPhysObject prim)
+        #region Known vehicle value functions
+        // Vehicle physical parameters that we buffer from constant getting and setting.
+        // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set.
+        //      Changing is remembered and the parameter is stored back into the physics engine only if updated.
+        //      This does two things: 1) saves continuious calls into unmanaged code, and
+        //      2) signals when a physics property update must happen back to the simulator
+        //      to update values modified for the vehicle.
+        private int m_knownChanged;
+        private int m_knownHas;
+        private float m_knownTerrainHeight;
+        private float m_knownWaterLevel;
+        private Vector3 m_knownPosition;
+        private Vector3 m_knownVelocity;
+        private Vector3 m_knownForce;
+        private Vector3 m_knownForceImpulse;
+        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;
+        private const int m_knownChangedVelocity           = 1 << 1;
+        private const int m_knownChangedForce              = 1 << 2;
+        private const int m_knownChangedForceImpulse       = 1 << 3;
+        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_knownChangedRotationalImpulse  = 1 << 7;
+        private const int m_knownChangedTerrainHeight      = 1 << 8;
+        private const int m_knownChangedWaterLevel         = 1 << 9;
+        private const int m_knownChangedForwardVelocity    = 1 <<10;
+
+        public void ForgetKnownVehicleProperties()
+        {
+            m_knownHas = 0;
+            m_knownChanged = 0;
+        }
+        // Push all the changed values back into the physics engine
+        public void PushKnownChanged()
+        {
+            if (m_knownChanged != 0)
+            {
+                if ((m_knownChanged & m_knownChangedPosition) != 0)
+                    Prim.ForcePosition = m_knownPosition;
+
+                if ((m_knownChanged & m_knownChangedOrientation) != 0)
+                    Prim.ForceOrientation = m_knownOrientation;
+
+                if ((m_knownChanged & m_knownChangedVelocity) != 0)
+                {
+                    Prim.ForceVelocity = m_knownVelocity;
+                    // Fake out Bullet by making it think the velocity is the same as last time.
+                    // Bullet does a bunch of smoothing for changing parameters.
+                    //    Since the vehicle is demanding this setting, we override Bullet's smoothing
+                    //    by telling Bullet the value was the same last time.
+                    // PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity);
+                }
+
+                if ((m_knownChanged & m_knownChangedForce) != 0)
+                    Prim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/);
+
+                if ((m_knownChanged & m_knownChangedForceImpulse) != 0)
+                    Prim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/);
+
+                if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
+                {
+                    Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
+                    // 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*/);
+                }
+
+                // If we set one of the values (ie, the physics engine didn't do it) we must force
+                //      an UpdateProperties event to send the changes up to the simulator.
+                PhysicsScene.PE.PushUpdate(Prim.PhysBody);
+            }
+            m_knownChanged = 0;
+        }
+
+        // Since the computation of terrain height can be a little involved, this routine
+        //    is used to fetch the height only once for each vehicle simulation step.
+        Vector3 lastRememberedHeightPos;
+        private float GetTerrainHeight(Vector3 pos)
         {
-            if (Prim.LocalID != prim.LocalID)
+            if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos)
             {
-                // The call should be on us by our prim. Error if not.
-                PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}",
-                                LogHeader, prim.LocalID, Prim.LocalID);
-                return;
+                lastRememberedHeightPos = pos;
+                m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
+                m_knownHas |= m_knownChangedTerrainHeight;
+            }
+            return m_knownTerrainHeight;
+        }
+
+        // Since the computation of water level can be a little involved, this routine
+        //    is used ot fetch the level only once for each vehicle simulation step.
+        private float GetWaterLevel(Vector3 pos)
+        {
+            if ((m_knownHas & m_knownChangedWaterLevel) == 0)
+            {
+                m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
+                m_knownHas |= m_knownChangedWaterLevel;
+            }
+            return (float)m_knownWaterLevel;
+        }
+
+        private Vector3 VehiclePosition
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedPosition) == 0)
+                {
+                    m_knownPosition = Prim.ForcePosition;
+                    m_knownHas |= m_knownChangedPosition;
+                }
+                return m_knownPosition;
+            }
+            set
+            {
+                m_knownPosition = value;
+                m_knownChanged |= m_knownChangedPosition;
+                m_knownHas |= m_knownChangedPosition;
             }
-            Refresh();
         }
 
+        private Quaternion VehicleOrientation
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedOrientation) == 0)
+                {
+                    m_knownOrientation = Prim.ForceOrientation;
+                    m_knownHas |= m_knownChangedOrientation;
+                }
+                return m_knownOrientation;
+            }
+            set
+            {
+                m_knownOrientation = value;
+                m_knownChanged |= m_knownChangedOrientation;
+                m_knownHas |= m_knownChangedOrientation;
+            }
+        }
+
+        private Vector3 VehicleVelocity
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedVelocity) == 0)
+                {
+                    m_knownVelocity = Prim.ForceVelocity;
+                    m_knownHas |= m_knownChangedVelocity;
+                }
+                return m_knownVelocity;
+            }
+            set
+            {
+                m_knownVelocity = value;
+                m_knownChanged |= m_knownChangedVelocity;
+                m_knownHas |= m_knownChangedVelocity;
+            }
+        }
+
+        private void VehicleAddForce(Vector3 pForce)
+        {
+            if ((m_knownHas & m_knownChangedForce) == 0)
+            {
+                m_knownForce = Vector3.Zero;
+                m_knownHas |= m_knownChangedForce;
+            }
+            m_knownForce += pForce;
+            m_knownChanged |= m_knownChangedForce;
+        }
+
+        private void VehicleAddForceImpulse(Vector3 pImpulse)
+        {
+            if ((m_knownHas & m_knownChangedForceImpulse) == 0)
+            {
+                m_knownForceImpulse = Vector3.Zero;
+                m_knownHas |= m_knownChangedForceImpulse;
+            }
+            m_knownForceImpulse += pImpulse;
+            m_knownChanged |= m_knownChangedForceImpulse;
+        }
+
+        private Vector3 VehicleRotationalVelocity
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedRotationalVelocity) == 0)
+                {
+                    m_knownRotationalVelocity = Prim.ForceRotationalVelocity;
+                    m_knownHas |= m_knownChangedRotationalVelocity;
+                }
+                return (Vector3)m_knownRotationalVelocity;
+            }
+            set
+            {
+                m_knownRotationalVelocity = value;
+                m_knownChanged |= m_knownChangedRotationalVelocity;
+                m_knownHas |= m_knownChangedRotationalVelocity;
+            }
+        }
+        private void VehicleAddAngularForce(Vector3 aForce)
+        {
+            if ((m_knownHas & m_knownChangedRotationalForce) == 0)
+            {
+                m_knownRotationalForce = Vector3.Zero;
+            }
+            m_knownRotationalForce += aForce;
+            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
+        {
+            get
+            {
+                if ((m_knownHas & m_knownChangedForwardVelocity) == 0)
+                {
+                    m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
+                    m_knownHas |= m_knownChangedForwardVelocity;
+                }
+                return m_knownForwardVelocity;
+            }
+        }
+        private float VehicleForwardSpeed
+        {
+            get
+            {
+                return VehicleForwardVelocity.X;
+            }
+        }
+
+        #endregion // Known vehicle value functions
+
         // One step of the vehicle properties for the next 'pTimestep' seconds.
         internal void Step(float pTimestep)
         {
             if (!IsActive) return;
 
-            // DEBUG
-            // Because Bullet does apply forces to the vehicle, our last computed
-            //     linear and angular velocities are not what is happening now.
-            // Vector3 externalAngularVelocity = Prim.ForceRotationalVelocity - m_lastAngularVelocity;
-            // m_lastAngularVelocity += (externalAngularVelocity * 0.5f) * pTimestep;
-            // m_lastAngularVelocity = Prim.ForceRotationalVelocity;   // DEBUG: account for what Bullet did last time
-            // m_lastLinearVelocityVector = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation);        // DEBUG:
-            // END DEBUG
-
-            m_vehicleMass = Prim.Linkset.LinksetMass;
+            ForgetKnownVehicleProperties();
 
             MoveLinear(pTimestep);
-            // Commented out for debug
             MoveAngular(pTimestep);
-            // Prim.ApplyTorqueImpulse(-Prim.RotationalVelocity * m_vehicleMass, false);    // DEBUG DEBUG
-            // Prim.ForceRotationalVelocity = -Prim.RotationalVelocity;    // DEBUG DEBUG
 
             LimitRotation(pTimestep);
 
             // remember the position so next step we can limit absolute movement effects
-            m_lastPositionVector = Prim.ForcePosition;
-
-            VDetailLog("{0},BSDynamics.Step,frict={1},grav={2},inertia={3},mass={4}",        // DEBUG DEBUG
-                                    Prim.LocalID, 
-                                    BulletSimAPI.GetFriction2(Prim.PhysBody.ptr),
-                                    BulletSimAPI.GetGravity2(Prim.PhysBody.ptr),
-                                    Prim.Inertia,
-                                    m_vehicleMass
-                                    );
-            VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
-                    Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity);
-        }// end Step
-
-        // Apply the effect of the linear motor.
-        // Also does hover and float.
+            m_lastPositionVector = VehiclePosition;
+
+            // If we forced the changing of some vehicle parameters, update the values and
+            //      for the physics engine to note the changes so an UpdateProperties event will happen.
+            PushKnownChanged();
+
+            if (PhysicsScene.VehiclePhysicalLoggingEnabled)
+                PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
+
+            VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}",
+                    Prim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity);
+        }
+
+        // Called after the simulation step
+        internal void PostStep(float pTimestep)
+        {
+            if (!IsActive) return;
+
+            if (PhysicsScene.VehiclePhysicalLoggingEnabled)
+                PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
+        }
+
+        // Apply the effect of the linear motor and other linear motions (like hover and float).
         private void MoveLinear(float pTimestep)
         {
-            // m_linearMotorDirection is the target direction we are moving relative to the vehicle coordinates
-            // m_lastLinearVelocityVector is the current speed we are moving in that direction
-            if (m_linearMotorDirection.LengthSquared() > 0.001f)
-            {
-                Vector3 origDir = m_linearMotorDirection;       // DEBUG
-                Vector3 origVel = m_lastLinearVelocityVector;   // DEBUG
-                // DEBUG: the vehicle velocity rotated to be relative to vehicle coordinates for comparison
-                Vector3 vehicleVelocity = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation);   // DEBUG
+            ComputeLinearVelocity(pTimestep);
 
-                // Add (desiredVelocity - lastAppliedVelocity) / howLongItShouldTakeToComplete
-                Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale) * pTimestep;
-                m_lastLinearVelocityVector += addAmount;
+            ComputeLinearTerrainHeightCorrection(pTimestep);
 
-                float decayFactor = (1.0f / m_linearMotorDecayTimescale) * pTimestep;
-                m_linearMotorDirection *= (1f - decayFactor);
+            ComputeLinearHover(pTimestep);
 
-                // Rotate new object velocity from vehicle relative to world coordinates
-                m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation;
+            ComputeLinearBlockingEndPoint(pTimestep);
 
-                // Apply friction for next time
-                Vector3 frictionFactor = (Vector3.One / m_linearFrictionTimescale) * pTimestep;
-                m_lastLinearVelocityVector *= (Vector3.One - frictionFactor);
+            ComputeLinearMotorUp(pTimestep);
 
-                VDetailLog("{0},MoveLinear,nonZero,origlmDir={1},origlvVel={2},vehVel={3},add={4},decay={5},frict={6},lmDir={7},lvVec={8},newVel={9}",
-                                Prim.LocalID, origDir, origVel, vehicleVelocity, addAmount, decayFactor, frictionFactor, 
-                                m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity);
-            }
-            else
+            ApplyGravity(pTimestep);
+
+            // If not changing some axis, reduce out velocity
+            if ((m_flags & (VehicleFlag.NO_X | VehicleFlag.NO_Y | VehicleFlag.NO_Z)) != 0)
             {
-                // if what remains of direction is very small, zero it.
-                m_linearMotorDirection = Vector3.Zero;
-                m_lastLinearVelocityVector = Vector3.Zero;
-                m_newVelocity = Vector3.Zero;
+                Vector3 vel = VehicleVelocity;
+                if ((m_flags & (VehicleFlag.NO_X)) != 0)
+                    vel.X = 0;
+                if ((m_flags & (VehicleFlag.NO_Y)) != 0)
+                    vel.Y = 0;
+                if ((m_flags & (VehicleFlag.NO_Z)) != 0)
+                    vel.Z = 0;
+                VehicleVelocity = vel;
+            }
 
-                VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
+            // ==================================================================
+            // Clamp high or low velocities
+            float newVelocityLengthSq = VehicleVelocity.LengthSquared();
+            if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySq)
+            {
+                Vector3 origVelW = VehicleVelocity;         // DEBUG DEBUG
+                VehicleVelocity /= VehicleVelocity.Length();
+                VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
+                VDetailLog("{0},  MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", 
+                            Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySq, VehicleVelocity);
             }
+            else if (newVelocityLengthSq < 0.001f)
+                VehicleVelocity = Vector3.Zero;
 
-            // m_newVelocity is velocity computed from linear motor in world coordinates
+            VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", Prim.LocalID, Prim.IsColliding, VehicleVelocity );
 
-            // Gravity and Buoyancy
-            // There is some gravity, make a gravity force vector that is applied after object velocity.
-            // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
-            Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy);
+        } // end MoveLinear()
 
-            /*
-             * RA: Not sure why one would do this unless we are hoping external forces are doing gravity, ...
-            // Preserve the current Z velocity
-            Vector3 vel_now = m_prim.Velocity;
-            m_dir.Z = vel_now.Z;        // Preserve the accumulated falling velocity
-             */
+        public void ComputeLinearVelocity(float pTimestep)
+        {
+            // Step the motor from the current value. Get the correction needed this step.
+            Vector3 origVelW = VehicleVelocity;             // DEBUG
+            Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
+            Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV);
+
+            // Motor is vehicle coordinates. Rotate it to world coordinates
+            Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation;
+
+            // If we're a ground vehicle, don't add any upward Z movement
+            if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
+            {
+                if (linearMotorVelocityW.Z > 0f)
+                    linearMotorVelocityW.Z = 0f;
+            }
+
+            // Add this correction to the velocity to make it faster/slower.
+            VehicleVelocity += linearMotorVelocityW;
 
-            Vector3 pos = Prim.ForcePosition;
-//            Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
+            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}",
+                        Prim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity);
+        }
 
+        public void ComputeLinearTerrainHeightCorrection(float pTimestep)
+        {
             // If below the terrain, move us above the ground a little.
-            float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
-            // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
-            //     TODO: Add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
-            // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation;
-            // if (rotatedSize.Z < terrainHeight)
-            if (pos.Z < terrainHeight)
+            // TODO: Consider taking the rotated size of the object or possibly casting a ray.
+            if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
             {
-                pos.Z = terrainHeight + 2;
-                Prim.ForcePosition = pos;
-                VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
+                // Force position because applying force won't get the vehicle through the terrain
+                Vector3 newPosition = VehiclePosition;
+                newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
+                VehiclePosition = newPosition;
+                VDetailLog("{0},  MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
+                        Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
             }
+        }
 
-            // Check if hovering
+        public void ComputeLinearHover(float pTimestep)
+        {
             // m_VhoverEfficiency: 0=bouncy, 1=totally damped
             // m_VhoverTimescale: time to achieve height
             if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
@@ -663,11 +1024,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // We should hover, get the target height
                 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
                 {
-                    m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
+                    m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight;
                 }
                 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
                 {
-                    m_VhoverTargetHeight = terrainHeight + m_VhoverHeight;
+                    m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight;
                 }
                 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
                 {
@@ -677,45 +1038,63 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
                 {
                     // If body is already heigher, use its height as target height
-                    if (pos.Z > m_VhoverTargetHeight)
-                        m_VhoverTargetHeight = pos.Z;
+                    if (VehiclePosition.Z > m_VhoverTargetHeight)
+                        m_VhoverTargetHeight = VehiclePosition.Z;
                 }
+                
                 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
                 {
-                    if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f)
+                    if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
                     {
+                        Vector3 pos = VehiclePosition;
                         pos.Z = m_VhoverTargetHeight;
-                        Prim.ForcePosition = pos;
+                        VehiclePosition = pos;
+
+                        VDetailLog("{0},  MoveLinear,hover,pos={1},lockHoverHeight", Prim.LocalID, pos);
                     }
                 }
                 else
                 {
-                    float verticalError = pos.Z - m_VhoverTargetHeight;
-                    // RA: where does the 50 come from?
-                    float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale);
-                    // Replace Vertical speed with correction figure if significant
-                    if (Math.Abs(verticalError) > 0.01f)
-                    {
-                        m_newVelocity.Z += verticalCorrectionVelocity;
-                        //KF: m_VhoverEfficiency is not yet implemented
-                    }
-                    else if (verticalError < -0.01)
-                    {
-                        m_newVelocity.Z -= verticalCorrectionVelocity;
-                    }
-                    else
-                    {
-                        m_newVelocity.Z = 0f;
-                    }
+                    // Error is positive if below the target and negative if above.
+                    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(verticalCorrection);
+                     */
+
+                    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, verticalCorrection);
                 }
 
-                VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight);
             }
+        }
 
+        public bool ComputeLinearBlockingEndPoint(float pTimestep)
+        {
+            bool changed = false;
+
+            Vector3 pos = VehiclePosition;
             Vector3 posChange = pos - m_lastPositionVector;
             if (m_BlockingEndPoint != Vector3.Zero)
             {
-                bool changed = false;
                 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
                 {
                     pos.X -= posChange.X + 1;
@@ -743,233 +1122,118 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 }
                 if (changed)
                 {
-                    Prim.ForcePosition = pos;
-                    VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
+                    VehiclePosition = pos;
+                    VDetailLog("{0},  MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
                                 Prim.LocalID, m_BlockingEndPoint, posChange, pos);
                 }
             }
+            return changed;
+        }
 
-            #region downForce
-            Vector3 downForce = Vector3.Zero;
-
+        // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+        //    Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when
+        //    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. 
+        // 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.
+        public void ComputeLinearMotorUp(float pTimestep)
+        {
             if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
             {
-                // If the vehicle is motoring into the sky, get it going back down.
-                // Is this an angular force or both linear and angular??
-                float distanceAboveGround = pos.Z - terrainHeight;
-                if (distanceAboveGround > 2f)
+                // This code tries to decide if the object is not on the ground and then pushing down
+                /*
+                float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
+                distanceAboveGround = VehiclePosition.Z - targetHeight;
+                // Not colliding if the vehicle is off the ground
+                if (!Prim.IsColliding)
                 {
-                    // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep);
                     // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
-                    downForce = new Vector3(0, 0, -distanceAboveGround);
+                    VehicleVelocity += new Vector3(0, 0, -distanceAboveGround);
                 }
-                // TODO: this calculation is all wrong. From the description at
+                // TODO: this calculation is wrong. From the description at
                 //     (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
                 //     has a decay factor. This says this force should
                 //     be computed with a motor.
-                VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", 
-                                    Prim.LocalID, distanceAboveGround, downForce);
-            }
-            #endregion // downForce
-
-            // If not changing some axis, reduce out velocity
-            if ((m_flags & (VehicleFlag.NO_X)) != 0)
-                m_newVelocity.X = 0;
-            if ((m_flags & (VehicleFlag.NO_Y)) != 0)
-                m_newVelocity.Y = 0;
-            if ((m_flags & (VehicleFlag.NO_Z)) != 0)
-                m_newVelocity.Z = 0;
-
-            // Clamp REALLY high or low velocities
-            if (m_newVelocity.LengthSquared() > 1e6f)
-            {
-                m_newVelocity /= m_newVelocity.Length();
-                m_newVelocity *= 1000f;
+                // TODO: add interaction with banking.
+                VDetailLog("{0},  MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
+                                Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
+                 */
+
+                // Another approach is to measure if we're going up. If going up and not colliding,
+                //     the vehicle is in the air.  Fix that by pushing down.
+                if (!Prim.IsColliding && VehicleVelocity.Z > 0.1)
+                {
+                    // Get rid of any of the velocity vector that is pushing us up.
+                    float upVelocity = VehicleVelocity.Z;
+                    VehicleVelocity += new Vector3(0, 0, -upVelocity);
+
+                    /*
+                    // If we're pointed up into the air, we should nose down
+                    Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
+                    // The rotation around the Y axis is pitch up or down
+                    if (pointingDirection.Y > 0.01f)
+                    {
+                        float angularCorrectionForce = -(float)Math.Asin(pointingDirection.Y);
+                        Vector3 angularCorrectionVector = new Vector3(0f, angularCorrectionForce, 0f);
+                        // Rotate into world coordinates and apply to vehicle
+                        angularCorrectionVector *= VehicleOrientation;
+                        VehicleAddAngularForce(angularCorrectionVector);
+                        VDetailLog("{0},  MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}",
+                                    Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector);
+                    }
+                        */
+                    VDetailLog("{0},  MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}",
+                                    Prim.LocalID, Prim.IsColliding, upVelocity, VehicleVelocity);
+                }
             }
-            else if (m_newVelocity.LengthSquared() < 1e-6f)
-                m_newVelocity = Vector3.Zero;
+        }
 
-            // Stuff new linear velocity into the vehicle
-            Prim.ForceVelocity = m_newVelocity;
-            // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false);    // DEBUG DEBUG
+        private void ApplyGravity(float pTimeStep)
+        {
+            Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass;
 
-            Vector3 totalDownForce = downForce + grav;
-            if (totalDownForce != Vector3.Zero)
-            {
-                Prim.AddForce(totalDownForce * m_vehicleMass, false);
-                // Prim.ApplyForceImpulse(totalDownForce * m_vehicleMass, false);
-            }
+            // Hack to reduce downward force if the vehicle is probably sitting on the ground
+            if (Prim.IsColliding && IsGroundVehicle)
+                appliedGravity *= BSParam.VehicleGroundGravityFudge;
 
-            VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}",
-                    Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, Prim.Velocity, totalDownForce);
+            VehicleAddForce(appliedGravity);
 
-        } // end MoveLinear()
+            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},appliedForce={3}", 
+                            Prim.LocalID, m_VehicleGravity, Prim.IsColliding, appliedGravity);
+        }
 
         // =======================================================================
+        // =======================================================================
         // Apply the effect of the angular motor.
+        // The 'contribution' is how much angular correction velocity each function wants.
+        //     All the contributions are added together and the resulting velocity is
+        //     set directly on the vehicle.
         private void MoveAngular(float pTimestep)
         {
-            // m_angularMotorDirection         // angular velocity requested by LSL motor
-            // m_angularMotorApply             // application frame counter
-            // m_angularMotorVelocity          // current angular motor velocity (ramps up and down)
-            // m_angularMotorTimescale         // motor angular velocity ramp up rate
-            // m_angularMotorDecayTimescale    // motor angular velocity decay rate
-            // m_angularFrictionTimescale      // body angular velocity  decay rate
-            // m_lastAngularVelocity           // what was last applied to body
-
-            if (m_angularMotorDirection.LengthSquared() > 0.0001)
-            {
-                Vector3 origVel = m_angularMotorVelocity;
-                Vector3 origDir = m_angularMotorDirection;
-
-                //       new velocity    +=                      error                       /  (  time to get there   / step interval)
-                //                           requested direction   - current vehicle direction
-                m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) /  (m_angularMotorTimescale / pTimestep);
-                // decay requested direction
-                m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale));
-
-                VDetailLog("{0},MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}",
-                        Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
-            }
-            else
-            {
-                m_angularMotorVelocity = Vector3.Zero;
-            }
-
-            #region Vertical attactor
+            ComputeAngularTurning(pTimestep);
 
-            Vector3 vertattr = Vector3.Zero;
-            Vector3 deflection = Vector3.Zero;
-            Vector3 banking = Vector3.Zero;
+            ComputeAngularVerticalAttraction();
 
-            // If vertical attaction timescale is reasonable and we applied an angular force last time...
-            if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero)
-            {
-                float VAservo = pTimestep * 0.2f / m_verticalAttractionTimescale;
-                if (Prim.IsColliding)
-                    VAservo = pTimestep * 0.05f / (m_verticalAttractionTimescale);
-
-                VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
-
-                // Create a vector of the vehicle "up" in world coordinates
-                Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
-                // verticalError.X and .Y are the World error amounts. They are 0 when there is no
-                //      error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its
-                //      side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall
-                //      and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be
-                //      modulated to prevent a stable inverted body.
-
-                // Error is 0 (no error) to +/- 2 (max error)
-                if (verticalError.Z < 0.0f)
-                {
-                    verticalError.X = 2.0f - verticalError.X;
-                    verticalError.Y = 2.0f - verticalError.Y;
-                }
-                // scale it by VAservo (timestep and timescale)
-                verticalError = verticalError * VAservo;
-
-                // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y
-                //     then .X increases, so change  Body angular velocity  X based on Y, and Y based on X.
-                //     Z is not changed.
-                vertattr.X =    verticalError.Y;
-                vertattr.Y =  - verticalError.X;
-                vertattr.Z = 0f;
-
-                // scaling appears better usingsquare-law
-                Vector3 angularVelocity = Prim.ForceRotationalVelocity;
-                float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
-                vertattr.X += bounce * angularVelocity.X;
-                vertattr.Y += bounce * angularVelocity.Y;
+            ComputeAngularDeflection();
 
-                VDetailLog("{0},MoveAngular,verticalAttraction,VAservo={1},effic={2},verticalError={3},bounce={4},vertattr={5}",
-                            Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, vertattr);
+            ComputeAngularBanking();
 
-            }
-            #endregion // Vertical attactor
-
-            #region Deflection
-
-            if (m_angularDeflectionEfficiency != 0)
+            // ==================================================================
+            if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.0001f))
             {
-                // Compute a scaled vector that points in the preferred axis (X direction)
-                Vector3 scaledDefaultDirection =
-                    new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0);
-                // Adding the current vehicle orientation and reference frame displaces the orientation to the frame.
-                // Rotate the scaled default axix relative to the actual vehicle direction giving where it should point.
-                Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame);
-
-                // Scale by efficiency and timescale
-                deflection = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep;
-
-                VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", 
-                                        Prim.LocalID, preferredAxisOfMotion, deflection);
-                // This deflection computation is not correct.
-                deflection = Vector3.Zero;
+                // The vehicle is not adding anything angular wise.
+                VehicleRotationalVelocity = Vector3.Zero;
+                VDetailLog("{0},  MoveAngular,done,zero", Prim.LocalID);
             }
-
-            #endregion
-
-            #region Banking
-
-            if (m_bankingEfficiency != 0)
+            else
             {
-                Vector3 dir = Vector3.One * Prim.ForceOrientation;
-                float mult = (m_bankingMix*m_bankingMix)*-1*(m_bankingMix < 0 ? -1 : 1);
-                    //Changes which way it banks in and out of turns
-
-                //Use the square of the efficiency, as it looks much more how SL banking works
-                float effSquared = (m_bankingEfficiency*m_bankingEfficiency);
-                if (m_bankingEfficiency < 0)
-                    effSquared *= -1; //Keep the negative!
-
-                float mix = Math.Abs(m_bankingMix);
-                if (m_angularMotorVelocity.X == 0)
-                {
-                    /*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f))
-                    {
-                        Vector3 axisAngle;
-                        float angle;
-                        parent.Orientation.GetAxisAngle(out axisAngle, out angle);
-                        Vector3 rotatedVel = parent.Velocity * parent.Orientation;
-                        if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0))
-                            m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10;
-                        else
-                            m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10;
-                    }*/
-                }
-                else
-                    banking.Z += (effSquared*(mult*mix))*(m_angularMotorVelocity.X) * 4;
-                if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix)
-                    //If they are colliding, we probably shouldn't shove the prim around... probably
-                {
-                    float angVelZ = m_angularMotorVelocity.X*-1;
-                    /*if(angVelZ > mix)
-                        angVelZ = mix;
-                    else if(angVelZ < -mix)
-                        angVelZ = -mix;*/
-                    //This controls how fast and how far the banking occurs
-                    Vector3 bankingRot = new Vector3(angVelZ*(effSquared*mult), 0, 0);
-                    if (bankingRot.X > 3)
-                        bankingRot.X = 3;
-                    else if (bankingRot.X < -3)
-                        bankingRot.X = -3;
-                    bankingRot *= Prim.ForceOrientation;
-                    banking += bankingRot;
-                }
-                m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency;
-                VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},banking={3}", 
-                                Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, banking);
+                VDetailLog("{0},  MoveAngular,done,nonZero,angVel={1}", Prim.LocalID, VehicleRotationalVelocity);
             }
 
-            #endregion
-
-            m_lastVertAttractor = vertattr;
-
-            // Sum velocities
-            m_lastAngularVelocity = m_angularMotorVelocity + vertattr + banking + deflection;
-
-            #region Linear Motor Offset
-
+            // ==================================================================
             //Offset section
             if (m_linearMotorOffset != Vector3.Zero)
             {
@@ -985,8 +1249,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 //
                 // The torque created is the linear velocity crossed with the offset
 
-                // NOTE: this computation does should be in the linear section
-                //    because there we know the impulse being applied.
+                // TODO: this computation should be in the linear section
+                //    because that is where we know the impulse being applied.
                 Vector3 torqueFromOffset = Vector3.Zero;
                 // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
                 if (float.IsNaN(torqueFromOffset.X))
@@ -995,47 +1259,215 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     torqueFromOffset.Y = 0;
                 if (float.IsNaN(torqueFromOffset.Z))
                     torqueFromOffset.Z = 0;
-                torqueFromOffset *= m_vehicleMass;
-                Prim.ApplyTorqueImpulse(torqueFromOffset, true);
-                VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
+
+                VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
+                VDetailLog("{0},  BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
             }
 
-            #endregion
+        }
 
+        private void ComputeAngularTurning(float pTimestep)
+        {
+            // The user wants this many radians per second angular change?
+            Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
+            Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
+
+            // ==================================================================
+            // 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. 
+            // 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?
             if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
             {
-                m_lastAngularVelocity.X = 0;
-                m_lastAngularVelocity.Y = 0;
-                VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
+                angularMotorContributionV.X = 0f;
+                angularMotorContributionV.Y = 0f;
             }
 
-            if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
+            VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
+            VDetailLog("{0},  MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV);
+        }
+
+        // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
+        //      Some vehicles, like boats, should always keep their up-side up. This can be done by
+        //      enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
+        //      the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the
+        //      VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency,
+        //      and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
+        //      efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
+        //      efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
+        public void ComputeAngularVerticalAttraction()
+        {
+            // If vertical attaction timescale is reasonable
+            if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
             {
-                m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
-                Prim.ZeroAngularMotion(true);
-                VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
+                Vector3 vertContributionV = Vector3.Zero;
+                Vector3 origRotVelW = VehicleRotationalVelocity;        // DEBUG DEBUG
+
+                // Take a vector pointing up and convert it from world to vehicle relative coords.
+                Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
+
+                // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
+                //    is now:
+                //    leaning to one side: rotated around the X axis with the Y value going
+                //        from zero (nearly straight up) to one (completely to the side)) or
+                //    leaning front-to-back: rotated around the Y axis with the value of X being between
+                //         zero and one.
+                // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
+
+                // Y error means needed rotation around X axis and visa versa.
+                // Since the error goes from zero to one, the asin is the corresponding angle.
+                vertContributionV.X = (float)Math.Asin(verticalError.Y);
+                // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
+                vertContributionV.Y = -(float)Math.Asin(verticalError.X);
+
+                // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
+                if (verticalError.Z < 0f)
+                {
+                    vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour;
+                    // vertContribution.Y -= PIOverFour;
+                }
+
+                // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
+                //     Correction happens over a number of seconds.
+                Vector3 unscaledContribVerticalErrorV = vertContributionV;     // DEBUG DEBUG
+                vertContributionV /= m_verticalAttractionTimescale;
+
+                VehicleRotationalVelocity += vertContributionV * VehicleOrientation;
+
+                VDetailLog("{0},  MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}",
+                                Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, 
+                                m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
             }
-            else
+        }
+
+        // Angular correction to correct the direction the vehicle is pointing to be
+        //      the direction is should want to be pointing.
+        // The vehicle is moving in some direction and correct its orientation to it is pointing
+        //     in that direction.
+        // TODO: implement reference frame.
+        public void ComputeAngularDeflection()
+        {
+            // Since angularMotorUp and angularDeflection are computed independently, they will calculate
+            //     approximately the same X or Y correction. When added together (when contributions are combined)
+            //     this creates an over-correction and then wabbling as the target is overshot.
+            // TODO: rethink how the different correction computations inter-relate.
+
+            if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
+            {
+                Vector3 deflectContributionV = Vector3.Zero;
+
+                // The direction the vehicle is moving
+                Vector3 movingDirection = VehicleVelocity;
+                movingDirection.Normalize();
+
+                // If the vehicle is going backward, it is still pointing forward
+                movingDirection *= Math.Sign(VehicleForwardSpeed);
+
+                // The direction the vehicle is pointing
+                Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
+                pointingDirection.Normalize();
+
+                // The difference between what is and what should be.
+                Vector3 deflectionError = movingDirection - pointingDirection;
+
+                // Don't try to correct very large errors (not our job)
+                // if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X);
+                // if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = PIOverTwo * Math.Sign(deflectionError.Y);
+                // if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = PIOverTwo * Math.Sign(deflectionError.Z);
+                if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
+                if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
+                if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;
+
+                // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
+
+                // Scale the correction by recovery timescale and efficiency
+                deflectContributionV = (-deflectionError) * m_angularDeflectionEfficiency;
+                deflectContributionV /= m_angularDeflectionTimescale;
+
+                VehicleRotationalVelocity += deflectContributionV * VehicleOrientation;
+
+                VDetailLog("{0},  MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
+                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
+                VDetailLog("{0},  MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
+                    Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
+            }
+        }
+
+        // Angular change to rotate the vehicle around the Z axis when the vehicle
+        //     is tipped around the X axis.
+        // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
+        //      The vertical attractor feature must be enabled in order for the banking behavior to
+        //      function. The way banking works is this: a rotation around the vehicle's roll-axis will
+        //      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. 
+        //          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?). 
+        //           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
+        //                  it to turn while banking, however video-game motorcycles are often configured
+        //                  to turn in place when at a dead stop--because they are often easier to control
+        //                  that way using the limited interface of the keyboard or game controller. The
+        //                  VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic
+        //                  banking by functioning as a slider between a banking that is correspondingly
+        //                  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. 
+        //      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. 
+        public void ComputeAngularBanking()
+        {
+            if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
             {
-                // Apply to the body.
-                // The above calculates the absolute angular velocity needed. Angular velocity is massless.
-                // Since we are stuffing the angular velocity directly into the object, the computed
-                //     velocity needs to be scaled by the timestep.
-                Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - Prim.ForceRotationalVelocity);
-                Prim.ForceRotationalVelocity = applyAngularForce;
-
-                // Decay the angular movement for next time
-                Vector3 decayamount = (Vector3.One / m_angularFrictionTimescale) * pTimestep;
-                m_lastAngularVelocity *= Vector3.One - decayamount;
-
-                VDetailLog("{0},MoveAngular,done,newRotVel={1},decay={2},lastAngular={3}", 
-                                    Prim.LocalID, applyAngularForce, decayamount, m_lastAngularVelocity);
+                Vector3 bankingContributionV = Vector3.Zero;
+
+                // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
+                // As the vehicle rolls to the right or left, the Y value will increase from
+                //     zero (straight up) to 1 or -1 (full tilt right  or left)
+                Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
+                
+                // Figure out the yaw value for this much roll.
+                // Squared because that seems to give a good value
+                float yawAngle = (float)Math.Asin(rollComponents.Y * rollComponents.Y) * m_bankingEfficiency;
+
+                //        actual error  =       static turn error            +           dynamic turn error
+                float mixedYawAngle = yawAngle * (1f - m_bankingMix) + yawAngle * m_bankingMix * VehicleForwardSpeed;
+
+                // TODO: the banking effect should not go to infinity but what to limit it to?
+                mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f);
+
+                // Build the force vector to change rotation from what it is to what it should be
+                bankingContributionV.Z = -mixedYawAngle;
+
+                // Don't do it all at once.
+                bankingContributionV /= m_bankingTimescale;
+
+                VehicleRotationalVelocity += bankingContributionV * VehicleOrientation;
+
+                VDetailLog("{0},  MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
+                            Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);
             }
-        } //end MoveAngular
+        }
 
+        // This is from previous instantiations of XXXDynamics.cs.
+        // Applies roll reference frame.
+        // TODO: is this the right way to separate the code to do this operation?
+        //    Should this be in MoveAngular()?
         internal void LimitRotation(float timestep)
         {
-            Quaternion rotq = Prim.ForceOrientation;
+            Quaternion rotq = VehicleOrientation;
             Quaternion m_rot = rotq;
             if (m_RollreferenceFrame != Quaternion.Identity)
             {
@@ -1063,12 +1495,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             }
             if (rotq != m_rot)
             {
-                Prim.ForceOrientation = m_rot;
-                VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
+                VehicleOrientation = m_rot;
+                VDetailLog("{0},  LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
             }
 
         }
 
+        private float ClampInRange(float low, float val, float high)
+        {
+            return Math.Max(low, Math.Min(val, high));
+            // return Utils.Clamp(val, low, high);
+        }
+
         // Invoke the detailed logger and output something if it's enabled.
         private void VDetailLog(string msg, params Object[] args)
         {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 0df4310..4ece1eb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -32,6 +32,15 @@ using OMV = OpenMetaverse;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
+
+// A BSPrim can get individual information about its linkedness attached
+//    to it through an instance of a subclass of LinksetInfo.
+// Each type of linkset will define the information needed for its type.
+public abstract class BSLinksetInfo
+{
+    public virtual void Clear() { }
+}
+
 public abstract class BSLinkset
 {
     // private static string LogHeader = "[BULLETSIM LINKSET]";
@@ -43,11 +52,11 @@ public abstract class BSLinkset
         Manual       = 2    // linkset tied together manually (code moves all the pieces)
     }
     // Create the correct type of linkset for this child
-    public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
+    public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent)
     {
         BSLinkset ret = null;
 
-        switch ((int)physScene.Params.linksetImplementation)
+        switch ((int)BSParam.LinksetImplementation)
         {
             case (int)LinksetImplementation.Constraint:
                 ret = new BSLinksetConstraints(physScene, parent);
@@ -62,10 +71,14 @@ public abstract class BSLinkset
                 ret = new BSLinksetCompound(physScene, parent);
                 break;
         }
+        if (ret == null)
+        {
+            physScene.Logger.ErrorFormat("[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID);
+        }
         return ret;
     }
 
-    public BSPhysObject LinksetRoot { get; protected set; }
+    public BSPrimLinkable LinksetRoot { get; protected set; }
 
     public BSScene PhysicsScene { get; private set; }
 
@@ -73,7 +86,7 @@ public abstract class BSLinkset
     public int LinksetID { get; private set; }
 
     // The children under the root in this linkset.
-    protected HashSet<BSPhysObject> m_children;
+    protected HashSet<BSPrimLinkable> m_children;
 
     // We lock the diddling of linkset classes to prevent any badness.
     // This locks the modification of the instances of this class. Changes
@@ -82,27 +95,13 @@ public abstract class BSLinkset
 
     // 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(BSPhysObject requestor)
+    public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
     {
         return BSPhysicsShapeType.SHAPE_UNKNOWN;
     }
 
-    // Linksets move around the children so the linkset might need to compute the child position
-    public virtual OMV.Vector3 Position(BSPhysObject member)
-        { return member.RawPosition; }
-    public virtual OMV.Quaternion Orientation(BSPhysObject member)
-        { return member.RawOrientation; }
-    // TODO: does this need to be done for Velocity and RotationalVelocityy?
-    
     // We keep the prim's mass in the linkset structure since it could be dependent on other prims
-    protected float m_mass;
-    public float LinksetMass
-    {
-        get
-        {
-            return m_mass;
-        }
-    }
+    public float LinksetMass { get; protected set; }
 
     public virtual bool LinksetIsColliding { get { return false; } }
 
@@ -116,7 +115,7 @@ public abstract class BSLinkset
         get { return ComputeLinksetGeometricCenter(); }
     }
 
-    protected void Initialize(BSScene scene, BSPhysObject parent)
+    protected BSLinkset(BSScene scene, BSPrimLinkable parent)
     {
         // A simple linkset of one (no children)
         LinksetID = m_nextLinksetID++;
@@ -125,22 +124,25 @@ public abstract class BSLinkset
             m_nextLinksetID = 1;
         PhysicsScene = scene;
         LinksetRoot = parent;
-        m_children = new HashSet<BSPhysObject>();
-        m_mass = parent.RawMass;
+        m_children = new HashSet<BSPrimLinkable>();
+        LinksetMass = parent.RawMass;
+        Rebuilding = false;
+
+        parent.ClearDisplacement();
     }
 
     // Link to a linkset where the child knows the parent.
     // Parent changing should not happen so do some sanity checking.
     // We return the parent's linkset so the child can track its membership.
     // Called at runtime.
-    public BSLinkset AddMeToLinkset(BSPhysObject child)
+    public BSLinkset AddMeToLinkset(BSPrimLinkable child)
     {
         lock (m_linksetActivityLock)
         {
             // Don't add the root to its own linkset
             if (!IsRoot(child))
                 AddChildToLinkset(child);
-            m_mass = ComputeLinksetMass();
+            LinksetMass = ComputeLinksetMass();
         }
         return this;
     }
@@ -149,7 +151,7 @@ public abstract class BSLinkset
     // Returns a new linkset for the child which is a linkset of one (just the
     //    orphened child).
     // Called at runtime.
-    public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
+    public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child)
     {
         lock (m_linksetActivityLock)
         {
@@ -159,7 +161,7 @@ public abstract class BSLinkset
                 return this;
             }
             RemoveChildFromLinkset(child);
-            m_mass = ComputeLinksetMass();
+            LinksetMass = ComputeLinksetMass();
         }
 
         // The child is down to a linkset of just itself
@@ -167,7 +169,7 @@ public abstract class BSLinkset
     }
 
     // Return 'true' if the passed object is the root object of this linkset
-    public bool IsRoot(BSPhysObject requestor)
+    public bool IsRoot(BSPrimLinkable requestor)
     {
         return (requestor.LocalID == LinksetRoot.LocalID);
     }
@@ -178,14 +180,14 @@ public abstract class BSLinkset
     public bool HasAnyChildren { get { return (m_children.Count > 0); } }
 
     // Return 'true' if this child is in this linkset
-    public bool HasChild(BSPhysObject child)
+    public bool HasChild(BSPrimLinkable child)
     {
         bool ret = false;
         lock (m_linksetActivityLock)
         {
             ret = m_children.Contains(child);
             /* Safer version but the above should work
-            foreach (BSPhysObject bp in m_children)
+            foreach (BSPrimLinkable bp in m_children)
             {
                 if (child.LocalID == bp.LocalID)
                 {
@@ -200,14 +202,14 @@ public abstract class BSLinkset
 
     // Perform an action on each member of the linkset including root prim.
     // Depends on the action on whether this should be done at taint time.
-    public delegate bool ForEachMemberAction(BSPhysObject obj);
+    public delegate bool ForEachMemberAction(BSPrimLinkable obj);
     public virtual bool ForEachMember(ForEachMemberAction action)
     {
         bool ret = false;
         lock (m_linksetActivityLock)
         {
             action(LinksetRoot);
-            foreach (BSPhysObject po in m_children)
+            foreach (BSPrimLinkable po in m_children)
             {
                 if (action(po))
                     break;
@@ -218,16 +220,23 @@ 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(BSPhysObject child);
-
+    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(BSPhysObject child);
+    protected abstract void RemoveChildFromLinkset(BSPrimLinkable child);
 
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
     // May be called at runtime or taint-time.
-    public abstract void Refresh(BSPhysObject requestor);
+    public virtual void Refresh(BSPrimLinkable requestor)
+    {
+        LinksetMass = ComputeLinksetMass();
+    }
+
+    // Flag denoting the linkset is in the process of being rebuilt.
+    // Used to know not the schedule a rebuild in the middle of a rebuild.
+    protected bool Rebuilding { get; set; }
 
     // The object is going dynamic (physical). Do any setup necessary
     //     for a dynamic linkset.
@@ -235,30 +244,26 @@ public abstract class BSLinkset
     //     has not yet been fully constructed.
     // Return 'true' if any properties updated on the passed object.
     // Called at taint-time!
-    public abstract bool MakeDynamic(BSPhysObject child);
+    public abstract bool MakeDynamic(BSPrimLinkable child);
 
     // The object is going static (non-physical). Do any setup necessary
     //     for a static linkset.
     // Return 'true' if any properties updated on the passed object.
     // Called at taint-time!
-    public abstract bool MakeStatic(BSPhysObject child);
+    public abstract bool MakeStatic(BSPrimLinkable child);
 
     // Called when a parameter update comes from the physics engine for any object
     //      of the linkset is received.
+    // Passed flag is update came from physics engine (true) or the user (false).
     // Called at taint-time!!
-    public abstract void UpdateProperties(BSPhysObject physObject);
+    public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable physObject);
 
     // Routine used when rebuilding the body of the root of the linkset
     // Destroy all the constraints have have been made to root.
     // 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(BSPrim child);
-
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    //     this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public abstract void RestoreBodyDependencies(BSPrim child);
+    public abstract bool RemoveBodyDependencies(BSPrimLinkable child);
 
     // ================================================================
     protected virtual float ComputeLinksetMass()
@@ -268,7 +273,7 @@ public abstract class BSLinkset
         {
             lock (m_linksetActivityLock)
             {
-                foreach (BSPhysObject bp in m_children)
+                foreach (BSPrimLinkable bp in m_children)
                 {
                     mass += bp.RawMass;
                 }
@@ -277,6 +282,7 @@ public abstract class BSLinkset
         return mass;
     }
 
+    // Computes linkset's center of mass in world coordinates.
     protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
     {
         OMV.Vector3 com;
@@ -285,7 +291,7 @@ public abstract class BSLinkset
             com = LinksetRoot.Position * LinksetRoot.RawMass;
             float totalMass = LinksetRoot.RawMass;
 
-            foreach (BSPhysObject bp in m_children)
+            foreach (BSPrimLinkable bp in m_children)
             {
                 com += bp.Position * bp.RawMass;
                 totalMass += bp.RawMass;
@@ -304,9 +310,9 @@ public abstract class BSLinkset
         {
             com = LinksetRoot.Position;
 
-            foreach (BSPhysObject bp in m_children)
+            foreach (BSPrimLinkable bp in m_children)
             {
-                com += bp.Position * bp.RawMass;
+                com += bp.Position;
             }
             com /= (m_children.Count + 1);
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index b9c2cf9..4ce58c7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -28,22 +28,80 @@ using System;
 using System.Collections.Generic;
 using System.Text;
 
+using OpenSim.Framework;
+
 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.
+sealed class BSLinksetCompoundInfo : BSLinksetInfo
+{
+    public int Index;
+    public OMV.Vector3 OffsetFromRoot;
+    public OMV.Vector3 OffsetFromCenterOfMass;
+    public OMV.Quaternion OffsetRot;
+    public BSLinksetCompoundInfo(int indx, OMV.Vector3 p, OMV.Quaternion r)
+    {
+        Index = indx;
+        OffsetFromRoot = p;
+        OffsetFromCenterOfMass = p;
+        OffsetRot = r;
+    }
+    // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
+    public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement)
+    {
+        // Each child position and rotation is given relative to the center-of-mass.
+        OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
+        OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation;
+        OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
+        OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation;
+
+        // Save relative position for recomputing child's world position after moving linkset.
+        Index = indx;
+        OffsetFromRoot = displacementFromRoot;
+        OffsetFromCenterOfMass = displacementFromCOM;
+        OffsetRot = displacementRot;
+    }
+    public override void Clear()
+    {
+        Index = 0;
+        OffsetFromRoot = OMV.Vector3.Zero;
+        OffsetFromCenterOfMass = OMV.Vector3.Zero;
+        OffsetRot = OMV.Quaternion.Identity;
+    }
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<i=");
+        buff.Append(Index.ToString());
+        buff.Append(",p=");
+        buff.Append(OffsetFromRoot.ToString());
+        buff.Append(",m=");
+        buff.Append(OffsetFromCenterOfMass.ToString());
+        buff.Append(",r=");
+        buff.Append(OffsetRot.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
+};
+
 public sealed class BSLinksetCompound : BSLinkset
 {
     private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
 
-    public BSLinksetCompound(BSScene scene, BSPhysObject parent)
+    public BSLinksetCompound(BSScene scene, BSPrimLinkable parent)
+        : base(scene, parent)
     {
-        base.Initialize(scene, parent);
     }
 
     // For compound implimented linksets, if there are children, use compound shape for the root.
-    public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
+    public override BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
     { 
+        // Returning 'unknown' means we don't have a preference.
         BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
         if (IsRoot(requestor) && HasAnyChildren)
         {
@@ -55,41 +113,57 @@ public sealed class BSLinksetCompound : BSLinkset
 
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
-    // This is queued in the 'post taint' queue so the
-    //   refresh will happen once after all the other taints are applied.
-    public override void Refresh(BSPhysObject requestor)
+    public override void Refresh(BSPrimLinkable requestor)
     {
-        // External request for Refresh (from BSPrim) is not necessary
-        // InternalRefresh(requestor);
+        base.Refresh(requestor);
+
+        // Something changed so do the rebuilding thing
+        // ScheduleRebuild();
     }
 
-    private void InternalRefresh(BSPhysObject requestor)
+    // Schedule a refresh to happen after all the other taint processing.
+    private void ScheduleRebuild(BSPrimLinkable requestor)
     {
-        DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID);
-        // Queue to happen after all the other taint processing
-        PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate()
+        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)
         {
-            if (IsRoot(requestor) && HasAnyChildren)
-                RecomputeLinksetCompound();
-        });
+            PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
+            {
+                if (HasAnyChildren)
+                    RecomputeLinksetCompound();
+            });
+        }
     }
 
-    // The object is going dynamic (physical). Do any setup necessary
-    //     for a dynamic linkset.
+    // The object is going dynamic (physical). Do any setup necessary for a dynamic linkset.
     // Only the state of the passed object can be modified. The rest of the linkset
     //     has not yet been fully constructed.
     // Return 'true' if any properties updated on the passed object.
     // Called at taint-time!
-    public override bool MakeDynamic(BSPhysObject child)
+    public override bool MakeDynamic(BSPrimLinkable child)
     {
         bool ret = false;
         DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        if (!IsRoot(child))
+        if (IsRoot(child))
+        {
+            // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
+            ScheduleRebuild(LinksetRoot);
+        }
+        else
         {
-            // Physical children are removed from the world as the shape ofthe root compound
+            // The origional prims are removed from the world as the shape of the root compound
             //     shape takes over.
-            BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            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;
@@ -100,73 +174,181 @@ public sealed class BSLinksetCompound : BSLinkset
     // 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(BSPhysObject child)
+    public override bool MakeStatic(BSPrimLinkable child)
     {
         bool ret = false;
         DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        if (!IsRoot(child))
+        if (IsRoot(child))
+        {
+            ScheduleRebuild(LinksetRoot);
+        }
+        else
         {
             // The non-physical children can come back to life.
-            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            // Don't force activation so setting of DISABLE_SIMULATION can stay.
-            BulletSimAPI.Activate2(child.PhysBody.ptr, false);
+            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;
     }
 
-    // Called at taint-time!!
-    public override void UpdateProperties(BSPhysObject updated)
-    {
-        // Nothing to do for constraints on property updates
-    }
-
-    // The children move around in relationship to the root.
-    // Just grab the current values of wherever it is right now.
-    public override OMV.Vector3 Position(BSPhysObject member)
+    // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
+    // Called at taint-time.
+    public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated)
     {
-        return BulletSimAPI.GetPosition2(member.PhysBody.ptr);
-    }
+        // 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 a child of the linkset is updating only the position or rotation, that can be done
+            //    without rebuilding the linkset.
+            // If a handle for the child can be fetch, we update the child here. If a rebuild was
+            //    scheduled by someone else, the rebuild will just replace this setting.
+
+            bool updatedChild = false;
+            // Anything other than updating position or orientation usually means a physical update
+            //     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))
+                {
+                    // 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);
+                    if (updated.LinksetChildIndex < numLinksetChildren)
+                    {
+                        BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, updated.LinksetChildIndex);
+                        if (linksetChildShape.HasPhysicalShape)
+                        {
+                            // Found the child shape within the compound shape
+                            PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, updated.LinksetChildIndex,
+                                                                        updated.RawPosition - LinksetRoot.RawPosition,
+                                                                        updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation),
+                                                                        true /* shouldRecalculateLocalAabb */);
+                            updatedChild = true;
+                            DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},pos={2},rot={3}",
+                                                        updated.LocalID, whichUpdated, updated.RawPosition, updated.RawOrientation);
+                        }
+                        else    // DEBUG DEBUG
+                        {       // DEBUG DEBUG
+                            DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
+                                                                        updated.LocalID, linksetChildShape);
+                        }       // DEBUG DEBUG
+                    }
+                    else    // DEBUG DEBUG
+                    {       // DEBUG DEBUG
+                        // the child is not yet in the compound shape. This is non-fatal.
+                        DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}",
+                                                                    updated.LocalID, numLinksetChildren, updated.LinksetChildIndex);
+                    }       // DEBUG DEBUG
+                }
+                else    // DEBUG DEBUG
+                {       // DEBUG DEBUG
+                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID);
+                }       // DEBUG DEBUG
 
-    public override OMV.Quaternion Orientation(BSPhysObject member)
-    {
-        return BulletSimAPI.GetOrientation2(member.PhysBody.ptr);
+                if (!updatedChild)
+                {
+                    // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
+                    // Note: there are several ways through this code that will not update the child if
+                    //    the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since
+                    //    there will already be a rebuild scheduled.
+                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
+                                                                    updated.LocalID, whichUpdated);
+                    updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed.
+                    ScheduleRebuild(updated);
+                }
+            }
+        }
     }
 
     // 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.
     // Returns 'true' of something was actually removed and would need restoring
     // Called at taint-time!!
-    public override bool RemoveBodyDependencies(BSPrim child)
+    public override bool RemoveBodyDependencies(BSPrimLinkable child)
     {
         bool ret = false;
 
         DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
-                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child));
+                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
 
         if (!IsRoot(child))
         {
-            // Cause the current shape to be freed and the new one to be built.
-            InternalRefresh(LinksetRoot);
-            ret = true;
+            // 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);
+
         return ret;
     }
 
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    // this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public override void RestoreBodyDependencies(BSPrim child)
+    // 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)
     {
-        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
+        // 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.
     // Called while LinkActivity is locked.
-    protected override void AddChildToLinkset(BSPhysObject child)
+    protected override void AddChildToLinkset(BSPrimLinkable child)
     {
         if (!HasChild(child))
         {
@@ -174,24 +356,28 @@ public sealed class BSLinksetCompound : BSLinkset
 
             DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
 
-            // Cause constraints and assorted properties to be recomputed before the next simulation step.
-            InternalRefresh(LinksetRoot);
+            // Rebuild the compound shape with the new child shape included
+            ScheduleRebuild(child);
         }
         return;
     }
 
     // Remove the specified child from the linkset.
-    // Safe to call even if the child is not really in my linkset.
-    protected override void RemoveChildFromLinkset(BSPhysObject child)
+    // Safe to call even if the child is not really in the linkset.
+    protected override void RemoveChildFromLinkset(BSPrimLinkable child)
     {
+        child.ClearDisplacement();
+
         if (m_children.Remove(child))
         {
             DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
                             child.LocalID,
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"),
-                            child.LocalID, child.PhysBody.ptr.ToString("X"));
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString,
+                            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);
 
             if (!HasAnyChildren)
@@ -201,8 +387,8 @@ public sealed class BSLinksetCompound : BSLinkset
             }
             else
             {
-                // Schedule a rebuild of the linkset  before the next simulation tick.
-                InternalRefresh(LinksetRoot);
+                // Rebuild the compound shape with the child removed
+                ScheduleRebuild(LinksetRoot);
             }
         }
         return;
@@ -213,63 +399,116 @@ 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 void RecomputeLinksetCompound()
     {
-        // Cause the root shape to be rebuilt as a compound object with just the root in it
-        LinksetRoot.ForceBodyShapeRebuild(true);
+        try
+        {
+            // Suppress rebuilding while rebuilding. (We know rebuilding is on only one thread.)
+            Rebuilding = true;
 
-        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
-                        LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
+            // Cause the root shape to be rebuilt as a compound object with just the root in it
+            LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime */);
 
-        // Add a shape for each of the other children in the linkset
-        ForEachMember(delegate(BSPhysObject cPrim)
-        {
-            if (!IsRoot(cPrim))
+            // 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
             {
-                // Each child position and rotation is given relative to the root.
-                OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
-                OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
-                OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
+                // Compute a center-of-mass in world coordinates.
+                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);
 
-                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
-                    LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, displacementPos, displacementRot);
+            // This causes the physical position of the root prim to be offset to accomodate for the displacements
+            LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
 
-                if (cPrim.PhysShape.isNativeShape)
+            // 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);
+
+            // Add a shape for each of the other children in the linkset
+            int memberIndex = 1;
+            ForEachMember(delegate(BSPrimLinkable cPrim)
+            {
+                if (IsRoot(cPrim))
                 {
-                    // Native shapes are not shared so we need to create a new one.
-                    // A mesh or hull is created because scale is not available on a native shape.
-                    //     (TODO: Bullet does have a btScaledCollisionShape. Can that be used?)
-                    BulletShape saveShape = cPrim.PhysShape;
-                    cPrim.PhysShape.ptr = IntPtr.Zero;  // Don't let the create free the child's shape
-                    PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
-                    BulletShape newShape = cPrim.PhysShape;
-                    cPrim.PhysShape = saveShape;
-                    BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot);
+                    cPrim.LinksetChildIndex = 0;
                 }
                 else
                 {
-                    // For the shared shapes (meshes and hulls), just use the shape in the child.
-                    if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
+                    cPrim.LinksetChildIndex = memberIndex;
+
+                    if (cPrim.PhysShape.isNativeShape)
                     {
-                        PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
-                                            LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
+                        // 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);
                     }
-                    BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot);
-                }
-            }
-            return false;   // 'false' says to move onto the next child in the list
-        });
+                    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);
 
-        // With all of the linkset packed into the root prim, it has the mass of everyone.
-        float linksetMass = LinksetMass;
-        LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
+                    }
+                    memberIndex++;
+                }
+                return false;   // 'false' says to move onto the next child in the list
+            });
 
-        BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
+            // With all of the linkset packed into the root prim, it has the mass of everyone.
+            LinksetMass = ComputeLinksetMass();
+            LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
 
-        // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
-        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
-        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
+            // 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);
+        }
+        finally
+        {
+            Rebuilding = false;
+        }
 
+        // See that the Aabb surrounds the new shape
+        PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape);
     }
 }
 }
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index c855fda..cc814d1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -36,23 +36,27 @@ public sealed class BSLinksetConstraints : BSLinkset
 {
     // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
 
-    public BSLinksetConstraints(BSScene scene, BSPhysObject parent)
+    public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
     {
-        base.Initialize(scene, parent);
     }
 
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
     // This is queued in the 'post taint' queue so the
     //   refresh will happen once after all the other taints are applied.
-    public override void Refresh(BSPhysObject requestor)
+    public override void Refresh(BSPrimLinkable requestor)
     {
-        // Queue to happen after all the other taint processing
-        PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
-            {
-                if (HasAnyChildren && IsRoot(requestor))
-                    RecomputeLinksetConstraints();
-            });
+        base.Refresh(requestor);
+
+        if (HasAnyChildren && IsRoot(requestor))
+        {
+            // Queue to happen after all the other taint processing
+            PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
+                {
+                    if (HasAnyChildren && IsRoot(requestor))
+                        RecomputeLinksetConstraints();
+                });
+        }
     }
 
     // The object is going dynamic (physical). Do any setup necessary
@@ -61,7 +65,7 @@ public sealed class BSLinksetConstraints : BSLinkset
     //     has not yet been fully constructed.
     // Return 'true' if any properties updated on the passed object.
     // Called at taint-time!
-    public override bool MakeDynamic(BSPhysObject child)
+    public override bool MakeDynamic(BSPrimLinkable child)
     {
         // What is done for each object in BSPrim is what we want.
         return false;
@@ -72,41 +76,29 @@ public sealed class BSLinksetConstraints : BSLinkset
     // 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(BSPhysObject child)
+    public override bool MakeStatic(BSPrimLinkable child)
     {
         // What is done for each object in BSPrim is what we want.
         return false;
     }
 
     // Called at taint-time!!
-    public override void UpdateProperties(BSPhysObject updated)
+    public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj)
     {
         // Nothing to do for constraints on property updates
     }
 
-    // The children of the linkset are moved around by the constraints.
-    // Just grab the current values of wherever it is right now.
-    public override OMV.Vector3 Position(BSPhysObject member)
-    {
-        return BulletSimAPI.GetPosition2(member.PhysBody.ptr);
-    }
-
-    public override OMV.Quaternion Orientation(BSPhysObject member)
-    {
-        return BulletSimAPI.GetOrientation2(member.PhysBody.ptr);
-    }
-
     // Routine called when rebuilding the body of some member of the linkset.
     // Destroy all the constraints have have been made to root and set
     //     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(BSPrim child)
+    public override bool RemoveBodyDependencies(BSPrimLinkable child)
     {
         bool ret = false;
 
         DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
-                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));
+                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString);
 
         lock (m_linksetActivityLock)
         {
@@ -118,19 +110,11 @@ public sealed class BSLinksetConstraints : BSLinkset
         return ret;
     }
 
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    // this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public override void RestoreBodyDependencies(BSPrim child)
-    {
-        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
-    }
-
     // ================================================================
 
     // Add a new child to the linkset.
     // Called while LinkActivity is locked.
-    protected override void AddChildToLinkset(BSPhysObject child)
+    protected override void AddChildToLinkset(BSPrimLinkable child)
     {
         if (!HasChild(child))
         {
@@ -146,17 +130,17 @@ public sealed class BSLinksetConstraints : BSLinkset
 
     // Remove the specified child from the linkset.
     // Safe to call even if the child is not really in my linkset.
-    protected override void RemoveChildFromLinkset(BSPhysObject child)
+    protected override void RemoveChildFromLinkset(BSPrimLinkable child)
     {
         if (m_children.Remove(child))
         {
-            BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
-            BSPhysObject childx = child;
+            BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now
+            BSPrimLinkable childx = child;
 
             DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
                             childx.LocalID,
-                            rootx.LocalID, rootx.PhysBody.ptr.ToString("X"),
-                            childx.LocalID, childx.PhysBody.ptr.ToString("X"));
+                            rootx.LocalID, rootx.PhysBody.AddrString,
+                            childx.LocalID, childx.PhysBody.AddrString);
 
             PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
             {
@@ -175,13 +159,13 @@ public sealed class BSLinksetConstraints : BSLinkset
 
     // Create a constraint between me (root of linkset) and the passed prim (the child).
     // Called at taint time!
-    private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
+    private void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
     {
         // Don't build the constraint when asked. Put it off until just before the simulation step.
         Refresh(rootPrim);
     }
 
-    private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
+    private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
     {
         // Zero motion for children so they don't interpolate
         childPrim.ZeroMotion(true);
@@ -195,8 +179,8 @@ public sealed class BSLinksetConstraints : BSLinkset
 
         DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
                                         rootPrim.LocalID,
-                                        rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"),
-                                        childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"),
+                                        rootPrim.LocalID, rootPrim.PhysBody.AddrString,
+                                        childPrim.LocalID, childPrim.PhysBody.AddrString,
                                         rootPrim.Position, childPrim.Position, midPoint);
 
         // create a constraint that allows no freedom of movement between the two objects
@@ -239,14 +223,14 @@ public sealed class BSLinksetConstraints : BSLinkset
         constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
 
         // tweek the constraint to increase stability
-        constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset));
-        constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor),
-                        PhysicsScene.Params.linkConstraintTransMotorMaxVel,
-                        PhysicsScene.Params.linkConstraintTransMotorMaxForce);
-        constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
-        if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
+        constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset));
+        constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor),
+                        BSParam.LinkConstraintTransMotorMaxVel,
+                        BSParam.LinkConstraintTransMotorMaxForce);
+        constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
+        if (BSParam.LinkConstraintSolverIterations != 0f)
         {
-            constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
+            constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations);
         }
         return constrain;
     }
@@ -255,19 +239,19 @@ public sealed class BSLinksetConstraints : BSLinkset
     // The root and child bodies are passed in because we need to remove the constraint between
     //      the bodies that were present at unlink time.
     // Called at taint time!
-    private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
+    private bool PhysicallyUnlinkAChildFromRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
     {
         bool ret = false;
         DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
                             rootPrim.LocalID,
-                            rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"),
-                            childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"));
+                            rootPrim.LocalID, rootPrim.PhysBody.AddrString,
+                            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))
         {
             // Make the child refresh its location
-            BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
+            PhysicsScene.PE.PushUpdate(childPrim.PhysBody);
             ret = true;
         }
 
@@ -277,7 +261,7 @@ public sealed class BSLinksetConstraints : BSLinkset
     // Remove linkage between myself and any possible children I might have.
     // Returns 'true' of any constraints were destroyed.
     // Called at taint time!
-    private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
+    private bool PhysicallyUnlinkAllChildrenFromRoot(BSPrimLinkable rootPrim)
     {
         DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
 
@@ -292,20 +276,17 @@ public sealed class BSLinksetConstraints : BSLinkset
     private void RecomputeLinksetConstraints()
     {
         float linksetMass = LinksetMass;
-        LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
+        LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
 
-        // DEBUG: see of inter-linkset collisions are causing problems
-        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
-        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
         DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
 
-        foreach (BSPhysObject child in m_children)
+        foreach (BSPrimLinkable child in m_children)
         {
             // A child in the linkset physically shows the mass of the whole linkset.
             // This allows Bullet to apply enough force on the child to move the whole linkset.
             // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
-            child.UpdatePhysicalMassProperties(linksetMass);
+            child.UpdatePhysicalMassProperties(linksetMass, true);
 
             BSConstraint constrain;
             if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
@@ -315,11 +296,7 @@ public sealed class BSLinksetConstraints : BSLinkset
             }
             constrain.RecomputeConstraintVariables(linksetMass);
 
-            // DEBUG: see of inter-linkset collisions are causing problems
-            // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, 
-            //                 (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-
-            // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr);    // DEBUG DEBUG
+            // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint);    // DEBUG DEBUG
         }
 
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
new file mode 100755
index 0000000..92d62ff
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
@@ -0,0 +1,200 @@
+/*
+ * 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 copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.Reflection;
+using Nini.Config;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+
+public struct MaterialAttributes
+{
+    // Material type values that correspond with definitions for LSL
+    public enum Material : int
+    {
+        Stone = 0,
+        Metal,
+        Glass,
+        Wood,
+        Flesh,
+        Plastic,
+        Rubber,
+        Light,
+        // Hereafter are BulletSim additions
+        Avatar,
+        NumberOfTypes   // the count of types in the enum.
+    }
+
+    // Names must be in the order of the above enum.
+    // These names must coorespond to the lower case field names in the MaterialAttributes
+    //     structure as reflection is used to select the field to put the value in.
+    public static readonly string[] MaterialAttribs = { "Density", "Friction", "Restitution"};
+
+    public MaterialAttributes(string t, float d, float f, float r)
+    {
+        type = t;
+        density = d;
+        friction = f;
+        restitution = r;
+    }
+    public string type;
+    public float density;
+    public float friction;
+    public float restitution;
+}
+
+public static class BSMaterials
+{
+    // Attributes for each material type
+    private static readonly MaterialAttributes[] Attributes;
+
+    // Map of material name to material type code
+    public static readonly Dictionary<string, MaterialAttributes.Material> MaterialMap;
+
+    static BSMaterials()
+    {
+        // Attribute sets for both the non-physical and physical instances of materials.
+        Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2];
+
+        // Map of name to type code.
+        MaterialMap = new Dictionary<string, MaterialAttributes.Material>();
+        MaterialMap.Add("Stone", MaterialAttributes.Material.Stone);
+        MaterialMap.Add("Metal", MaterialAttributes.Material.Metal);
+        MaterialMap.Add("Glass", MaterialAttributes.Material.Glass);
+        MaterialMap.Add("Wood", MaterialAttributes.Material.Wood);
+        MaterialMap.Add("Flesh", MaterialAttributes.Material.Flesh);
+        MaterialMap.Add("Plastic", MaterialAttributes.Material.Plastic);
+        MaterialMap.Add("Rubber", MaterialAttributes.Material.Rubber);
+        MaterialMap.Add("Light", MaterialAttributes.Material.Light);
+        MaterialMap.Add("Avatar", MaterialAttributes.Material.Avatar);
+    }
+
+    // This is where all the default material attributes are defined.
+    public static void InitializeFromDefaults(ConfigurationParameters parms)
+    {
+        // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
+        float dDensity = parms.defaultDensity;
+        float dFriction = parms.defaultFriction;
+        float dRestitution = parms.defaultRestitution;
+        Attributes[(int)MaterialAttributes.Material.Stone] =
+                    new MaterialAttributes("stone",dDensity, 0.8f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Metal] =
+                    new MaterialAttributes("metal",dDensity, 0.3f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Glass] =
+                    new MaterialAttributes("glass",dDensity, 0.2f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Wood] =
+                    new MaterialAttributes("wood",dDensity, 0.6f, 0.5f);
+        Attributes[(int)MaterialAttributes.Material.Flesh] =
+                    new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f);
+        Attributes[(int)MaterialAttributes.Material.Plastic] =
+                    new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Rubber] =
+                    new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f);
+        Attributes[(int)MaterialAttributes.Material.Light] =
+                    new MaterialAttributes("light",dDensity, dFriction, dRestitution);
+        Attributes[(int)MaterialAttributes.Material.Avatar] =
+                    new MaterialAttributes("avatar",3.5f, 0.2f, 0f);
+
+        Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f);
+        Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f);
+        Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f);
+        Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f);
+        Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f);
+        Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
+        Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
+                    new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f);
+    }
+
+    // Under the [BulletSim] section, one can change the individual material
+    //    attribute values. The format of the configuration parameter is:
+    //        <materialName><Attribute>["Physical"] = floatValue
+    //    For instance:
+    //        [BulletSim]
+    //             StoneFriction = 0.2
+    //             FleshRestitutionPhysical = 0.8
+    // Materials can have different parameters for their static and
+    //    physical instantiations. When setting the non-physical value,
+    //    both values are changed. Setting the physical value only changes
+    //    the physical value.
+    public static void InitializefromParameters(IConfig pConfig)
+    {
+        foreach (KeyValuePair<string, MaterialAttributes.Material> kvp in MaterialMap)
+        {
+            string matName = kvp.Key;
+            foreach (string attribName in MaterialAttributes.MaterialAttribs)
+            {
+                string paramName = matName + attribName;
+                if (pConfig.Contains(paramName))
+                {
+                    float paramValue = pConfig.GetFloat(paramName);
+                    SetAttributeValue((int)kvp.Value, attribName, paramValue);
+                    // set the physical value also
+                    SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
+                }
+                paramName += "Physical";
+                if (pConfig.Contains(paramName))
+                {
+                    float paramValue = pConfig.GetFloat(paramName);
+                    SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
+                }
+            }
+        }
+    }
+
+    // Use reflection to set the value in the attribute structure.
+    private static void SetAttributeValue(int matType, string attribName, float val)
+    {
+        MaterialAttributes thisAttrib = Attributes[matType];
+        FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower());
+        if (fieldInfo != null)
+        {
+            fieldInfo.SetValue(thisAttrib, val);
+            Attributes[matType] = thisAttrib;
+        }
+    }
+
+    // Given a material type, return a structure of attributes.
+    public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical)
+    {
+        int ind = (int)type;
+        if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes;
+        return Attributes[ind];
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index bc6e4c4..9501e2d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -1,104 +1,486 @@
-using System;

-using System.Collections.Generic;

-using System.Text;

-using OpenMetaverse;

-

-namespace OpenSim.Region.Physics.BulletSPlugin

-{

-public abstract class BSMotor

-{

-    public virtual void Reset() { }

-    public virtual void Zero() { }

-}

-// Can all the incremental stepping be replaced with motor classes?

-public class BSVMotor : BSMotor

-{

-    public Vector3 FrameOfReference { get; set; }

-    public Vector3 Offset { get; set; }

-

-    public float TimeScale { get; set; }

-    public float TargetValueDecayTimeScale { get; set; }

-    public Vector3 CurrentValueReductionTimescale { get; set; }

-    public float Efficiency { get; set; }

-

-    public Vector3 TargetValue { get; private set; }

-    public Vector3 CurrentValue { get; private set; }

-

-

-

-    BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)

-    {

-        TimeScale = timeScale;

-        TargetValueDecayTimeScale = decayTimeScale;

-        CurrentValueReductionTimescale = frictionTimeScale;

-        Efficiency = efficiency;

-    }

-    public void SetCurrent(Vector3 current)

-    {

-        CurrentValue = current;

-    }

-    public void SetTarget(Vector3 target)

-    {

-        TargetValue = target;

-    }

-    public Vector3 Step(float timeStep)

-    {

-        if (CurrentValue.LengthSquared() > 0.001f)

-        {

-            // Vector3 origDir = Target;       // DEBUG

-            // Vector3 origVel = CurrentValue;   // DEBUG

-

-            // Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete

-            Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep;

-            CurrentValue += addAmount;

-

-            float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;

-            TargetValue *= (1f - decayFactor);

-

-            Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;

-            CurrentValue *= (Vector3.One - frictionFactor);

-        }

-        else

-        {

-            // if what remains of direction is very small, zero it.

-            TargetValue = Vector3.Zero;

-            CurrentValue = Vector3.Zero;

-

-            // VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);

-        }

-        return CurrentValue;

-    }

-}

-

-public class BSFMotor : BSMotor

-{

-    public float TimeScale { get; set; }

-    public float DecayTimeScale { get; set; }

-    public float Friction { get; set; }

-    public float Efficiency { get; set; }

-

-    public float Target { get; private set; }

-    public float CurrentValue { get; private set; }

-

-    BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency)

-    {

-    }

-    public void SetCurrent(float target)

-    {

-    }

-    public void SetTarget(float target)

-    {

-    }

-    public float Step(float timeStep)

-    {

-        return 0f;

-    }

-}

-public class BSPIDMotor : BSMotor

-{

-    // TODO: write and use this one

-    BSPIDMotor()

-    {

-    }

-}

-}

+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+using OpenSim.Framework;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public abstract class BSMotor
+{
+    // Timescales and other things can be turned off by setting them to 'infinite'.
+    public const float Infinite = 12345.6f;
+    public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
+
+    public BSMotor(string useName)
+    {
+        UseName = useName;
+        PhysicsScene = null;
+        Enabled = true;
+    }
+    public virtual bool Enabled { get; set; }
+    public virtual void Reset() { }
+    public virtual void Zero() { }
+    public virtual void GenerateTestOutput(float timeStep) { }
+
+    // A name passed at motor creation for easily identifyable debugging messages.
+    public string UseName { get; private set; }
+
+    // Used only for outputting debug information. Might not be set so check for null.
+    public BSScene PhysicsScene { get; set; }
+    protected void MDetailLog(string msg, params Object[] parms)
+    {
+        if (PhysicsScene != null)
+        {
+            PhysicsScene.DetailLog(msg, parms);
+        }
+    }
+}
+
+// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
+// The TargetValue decays in TargetValueDecayTimeScale and
+//     the CurrentValue will be held back by FrictionTimeScale.
+// This motor will "zero itself" over time in that the targetValue will
+//    decay to zero and the currentValue will follow it to that zero.
+//    The overall effect is for the returned correction value to go from large
+//    values (the total difference between current and target minus friction)
+//    to small and eventually zero values.
+// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
+
+// For instance, if something is moving at speed X and the desired speed is Y,
+//    CurrentValue is X and TargetValue is Y. As the motor is stepped, new
+//    values of CurrentValue are returned that approach the TargetValue.
+// The feature of decaying TargetValue is so vehicles will eventually
+//    come to a stop rather than run forever. This can be disabled by
+//    setting TargetValueDecayTimescale to 'infinite'.
+// The change from CurrentValue to TargetValue is linear over TimeScale seconds.
+public class BSVMotor : BSMotor
+{
+    // public Vector3 FrameOfReference { get; set; }
+    // public Vector3 Offset { get; set; }
+
+    public virtual float TimeScale { get; set; }
+    public virtual float TargetValueDecayTimeScale { get; set; }
+    public virtual Vector3 FrictionTimescale { get; set; }
+    public virtual float Efficiency { get; set; }
+
+    public virtual float ErrorZeroThreshold { get; set; }
+
+    public virtual Vector3 TargetValue { get; protected set; }
+    public virtual Vector3 CurrentValue { get; protected set; }
+    public virtual Vector3 LastError { get; protected set; }
+
+    public virtual bool ErrorIsZero()
+    {
+        return ErrorIsZero(LastError);
+    }
+    public virtual bool ErrorIsZero(Vector3 err)
+    { 
+        return (err == Vector3.Zero || err.ApproxEquals(Vector3.Zero, ErrorZeroThreshold));
+    }
+
+    public BSVMotor(string useName)
+        : base(useName)
+    {
+        TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
+        Efficiency = 1f;
+        FrictionTimescale = BSMotor.InfiniteVector;
+        CurrentValue = TargetValue = Vector3.Zero;
+        ErrorZeroThreshold = 0.001f;
+    }
+    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
+        : this(useName)
+    {
+        TimeScale = timeScale;
+        TargetValueDecayTimeScale = decayTimeScale;
+        FrictionTimescale = frictionTimeScale;
+        Efficiency = efficiency;
+        CurrentValue = TargetValue = Vector3.Zero;
+    }
+    public void SetCurrent(Vector3 current)
+    {
+        CurrentValue = current;
+    }
+    public void SetTarget(Vector3 target)
+    {
+        TargetValue = target;
+    }
+    public override void Zero()
+    {
+        base.Zero();
+        CurrentValue = TargetValue = Vector3.Zero;
+    }
+
+    // Compute the next step and return the new current value.
+    // Returns the correction needed to move 'current' to 'target'.
+    public virtual Vector3 Step(float timeStep)
+    {
+        if (!Enabled) return TargetValue;
+
+        Vector3 origTarget = TargetValue;       // DEBUG
+        Vector3 origCurrVal = CurrentValue;     // DEBUG
+
+        Vector3 correction = Vector3.Zero;
+        Vector3 error = TargetValue - CurrentValue;
+        LastError = error;
+        if (!ErrorIsZero(error))
+        {
+            correction = StepError(timeStep, error);
+
+            CurrentValue += correction;
+
+            // The desired value reduces to zero which also reduces the difference with current.
+            // If the decay time is infinite, don't decay at all.
+            float decayFactor = 0f;
+            if (TargetValueDecayTimeScale != BSMotor.Infinite)
+            {
+                decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+                TargetValue *= (1f - decayFactor);
+            }
+
+            // The amount we can correct the error is reduced by the friction
+            Vector3 frictionFactor = Vector3.Zero;
+            if (FrictionTimescale != BSMotor.InfiniteVector)
+            {
+                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
+                // Individual friction components can be 'infinite' so compute each separately.
+                frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X);
+                frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y);
+                frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z);
+                frictionFactor *= timeStep;
+                CurrentValue *= (Vector3.One - frictionFactor);
+            }
+
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
+                                BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
+                                timeStep, error, correction);
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
+                                BSScene.DetailLogZero, UseName,
+                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
+                                TargetValue, CurrentValue);
+        }
+        else
+        {
+            // Difference between what we have and target is small. Motor is done.
+            if (TargetValue.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+            {
+                // The target can step down to nearly zero but not get there.  If close to zero
+                //     it is really zero.
+                TargetValue = Vector3.Zero;
+            }
+            CurrentValue = TargetValue;
+            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
+                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
+        }
+
+        return correction;
+    }
+    // version of step that sets the current value before doing the step
+    public virtual Vector3 Step(float timeStep, Vector3 current)
+    {
+        CurrentValue = current;
+        return Step(timeStep);
+    }
+    public virtual Vector3 StepError(float timeStep, Vector3 error)
+    {
+        if (!Enabled) return Vector3.Zero;
+
+        Vector3 returnCorrection = Vector3.Zero;
+        if (!ErrorIsZero(error))
+        {
+            // correction =  error / secondsItShouldTakeToCorrect
+            Vector3 correctionAmount;
+            if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
+                correctionAmount = error * timeStep;
+            else
+                correctionAmount = error / TimeScale * timeStep;
+
+            returnCorrection = correctionAmount;
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
+                                    BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
+        }
+        return returnCorrection;
+    }
+
+    // The user sets all the parameters and calls this which outputs values until error is zero.
+    public override void GenerateTestOutput(float timeStep)
+    {
+        // maximum number of outputs to generate.
+        int maxOutput = 50;
+        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, 
+                                CurrentValue, TargetValue);
+
+        LastError = BSMotor.InfiniteVector;
+        while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+        {
+            Vector3 lastStep = Step(timeStep);
+            MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
+                            BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
+        }
+        MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
+        
+
+    }
+
+    public override string ToString()
+    {
+        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>",
+            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale);
+    }
+}
+
+// ============================================================================
+// ============================================================================
+public class BSFMotor : BSMotor
+{
+    public virtual float TimeScale { get; set; }
+    public virtual float TargetValueDecayTimeScale { get; set; }
+    public virtual float FrictionTimescale { get; set; }
+    public virtual float Efficiency { get; set; }
+
+    public virtual float ErrorZeroThreshold { get; set; }
+
+    public virtual float TargetValue { get; protected set; }
+    public virtual float CurrentValue { get; protected set; }
+    public virtual float LastError { get; protected set; }
+
+    public virtual bool ErrorIsZero()
+    {
+        return ErrorIsZero(LastError);
+    }
+    public virtual bool ErrorIsZero(float err)
+    { 
+        return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold);
+    }
+
+    public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
+        : base(useName)
+    {
+        TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
+        Efficiency = 1f;
+        FrictionTimescale = BSMotor.Infinite;
+        CurrentValue = TargetValue = 0f;
+        ErrorZeroThreshold = 0.01f;
+    }
+    public void SetCurrent(float current)
+    {
+        CurrentValue = current;
+    }
+    public void SetTarget(float target)
+    {
+        TargetValue = target;
+    }
+    public override void Zero()
+    {
+        base.Zero();
+        CurrentValue = TargetValue = 0f;
+    }
+
+    public virtual float Step(float timeStep)
+    {
+        if (!Enabled) return TargetValue;
+
+        float origTarget = TargetValue;       // DEBUG
+        float origCurrVal = CurrentValue;     // DEBUG
+
+        float correction = 0f;
+        float error = TargetValue - CurrentValue;
+        LastError = error;
+        if (!ErrorIsZero(error))
+        {
+            correction = StepError(timeStep, error);
+
+            CurrentValue += correction;
+
+            // The desired value reduces to zero which also reduces the difference with current.
+            // If the decay time is infinite, don't decay at all.
+            float decayFactor = 0f;
+            if (TargetValueDecayTimeScale != BSMotor.Infinite)
+            {
+                decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+                TargetValue *= (1f - decayFactor);
+            }
+
+            // The amount we can correct the error is reduced by the friction
+            float frictionFactor = 0f;
+            if (FrictionTimescale != BSMotor.Infinite)
+            {
+                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
+                // Individual friction components can be 'infinite' so compute each separately.
+                frictionFactor = 1f / FrictionTimescale;
+                frictionFactor *= timeStep;
+                CurrentValue *= (1f - frictionFactor);
+            }
+
+            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
+                                BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
+                                timeStep, error, correction);
+            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
+                                BSScene.DetailLogZero, UseName,
+                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
+                                TargetValue, CurrentValue);
+        }
+        else
+        {
+            // Difference between what we have and target is small. Motor is done.
+            if (Util.InRange<float>(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold))
+            {
+                // The target can step down to nearly zero but not get there.  If close to zero
+                //     it is really zero.
+                TargetValue = 0f;
+            }
+            CurrentValue = TargetValue;
+            MDetailLog("{0},  BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
+                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
+        }
+
+        return CurrentValue;
+    }
+
+    public virtual float StepError(float timeStep, float error)
+    {
+        if (!Enabled) return 0f;
+
+        float returnCorrection = 0f;
+        if (!ErrorIsZero(error))
+        {
+            // correction =  error / secondsItShouldTakeToCorrect
+            float correctionAmount;
+            if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
+                correctionAmount = error * timeStep;
+            else
+                correctionAmount = error / TimeScale * timeStep;
+
+            returnCorrection = correctionAmount;
+            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
+                                    BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
+        }
+        return returnCorrection;
+    }
+
+    public override string ToString()
+    {
+        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>",
+            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale);
+    }
+
+}
+
+// ============================================================================
+// ============================================================================
+// Proportional, Integral, Derivitive Motor
+// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
+public class BSPIDVMotor : BSVMotor
+{
+    // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10.
+    public Vector3 proportionFactor { get; set; }
+    public Vector3 integralFactor { get; set; }
+    public Vector3 derivFactor { get; set; }
+
+    // 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 
+    public Vector3 FactorMix;
+
+    // Arbritrary factor range.
+    // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
+    public float EfficiencyHigh = 0.4f;
+    public float EfficiencyLow = 4.0f;
+
+    // Running integration of the error
+    Vector3 RunningIntegration { get; set; }
+
+    public BSPIDVMotor(string useName)
+        : base(useName)
+    {
+        proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
+        integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
+        derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
+        FactorMix = new Vector3(0.5f, 0.25f, 0.25f);
+        RunningIntegration = Vector3.Zero;
+        LastError = Vector3.Zero;
+    }
+
+    public override void Zero()
+    {
+        base.Zero();
+    }
+
+    public override float Efficiency
+    {
+        get { return base.Efficiency; }
+        set
+        {
+            base.Efficiency = Util.Clamp(value, 0f, 1f);
+
+            // Compute factors based on efficiency.
+            // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
+            // If efficiency is low (0f), use a factor value that overcorrects.
+            // TODO: might want to vary contribution of different factor depending on efficiency.
+            float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
+            // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
+
+            proportionFactor = new Vector3(factor, factor, factor);
+            integralFactor = new Vector3(factor, factor, factor);
+            derivFactor = new Vector3(factor, factor, factor);
+
+            MDetailLog("{0},BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor);
+        }
+    }
+
+    // Advance the PID computation on this error.
+    public override Vector3 StepError(float timeStep, Vector3 error)
+    {
+        if (!Enabled) return Vector3.Zero;
+
+        // Add up the error so we can integrate over the accumulated errors
+        RunningIntegration += error * timeStep;
+
+        // A simple derivitive is the rate of change from the last error.
+        Vector3 derivitive = (error - LastError) * timeStep;
+        LastError = error;
+
+        // Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
+        Vector3 ret   =   error * timeStep   * proportionFactor * FactorMix.X
+                        + RunningIntegration * integralFactor   * FactorMix.Y
+                        + derivitive         * derivFactor      * FactorMix.Z
+                        ;
+
+        MDetailLog("{0},BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}",
+                        BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret);
+
+        return ret;
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
new file mode 100755
index 0000000..329169f
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -0,0 +1,738 @@
+/*
+ * 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 copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+using OpenSim.Region.Physics.Manager;
+
+using OpenMetaverse;
+using Nini.Config;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public static class BSParam
+{
+    // Level of Detail values kept as float because that's what the Meshmerizer wants
+    public static float MeshLOD { get; private set; }
+    public static float MeshCircularLOD { get; private set; }
+    public static float MeshMegaPrimLOD { get; private set; }
+    public static float MeshMegaPrimThreshold { get; private set; }
+    public static float SculptLOD { get; private set; }
+
+    public static float MinimumObjectMass { get; private set; }
+    public static float MaximumObjectMass { get; private set; }
+    public static float MaxLinearVelocity { get; private set; }
+    public static float MaxAngularVelocity { get; private set; }
+    public static float MaxAddForceMagnitude { get; private set; }
+    public static float DensityScaleFactor { get; private set; }
+
+    public static float LinearDamping { get; private set; }
+    public static float AngularDamping { get; private set; }
+    public static float DeactivationTime { get; private set; }
+    public static float LinearSleepingThreshold { get; private set; }
+    public static float AngularSleepingThreshold { get; private set; }
+        public static float CcdMotionThreshold { get; private set; }
+        public static float CcdSweptSphereRadius { get; private set; }
+    public static float ContactProcessingThreshold { get; private set; }
+
+    public static bool ShouldMeshSculptedPrim { get; private set; }   // cause scuplted prims to get meshed
+    public static bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
+    public static bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
+    public static bool ShouldRemoveZeroWidthTriangles { get; private set; }
+
+    public static float TerrainImplementation { get; private set; }
+    public static float TerrainFriction { get; private set; }
+    public static float TerrainHitFraction { get; private set; }
+    public static float TerrainRestitution { get; private set; }
+    public static float TerrainCollisionMargin { get; private set; }
+
+    public static float DefaultFriction;
+    public static float DefaultDensity;
+    public static float DefaultRestitution;
+    public static float CollisionMargin;
+    public static float Gravity;
+
+    // Physics Engine operation
+        public static float MaxPersistantManifoldPoolSize;
+        public static float MaxCollisionAlgorithmPoolSize;
+        public static float ShouldDisableContactPoolDynamicAllocation;
+        public static float ShouldForceUpdateAllAabbs;
+        public static float ShouldRandomizeSolverOrder;
+        public static float ShouldSplitSimulationIslands;
+        public static float ShouldEnableFrictionCaching;
+        public static float NumberOfSolverIterations;
+    public static bool UseSingleSidedMeshes { get { return UseSingleSidedMeshesF != ConfigurationParameters.numericFalse; } }
+    public static float UseSingleSidedMeshesF;
+    public static float GlobalContactBreakingThreshold;
+
+    // Avatar parameters
+    public static float AvatarFriction { get; private set; }
+    public static float AvatarStandingFriction { get; private set; }
+    public static float AvatarAlwaysRunFactor { get; private set; }
+    public static float AvatarDensity { get; private set; }
+    public static float AvatarRestitution { get; private set; }
+    public static float AvatarCapsuleWidth { get; private set; }
+    public static float AvatarCapsuleDepth { get; private set; }
+    public static float AvatarCapsuleHeight { get; private set; }
+        public static float AvatarContactProcessingThreshold { get; private set; }
+        public static float AvatarStepHeight { get; private set; }
+        public static float AvatarStepApproachFactor { get; private set; }
+        public static float AvatarStepForceFactor { get; private set; }
+
+    // Vehicle parameters
+    public static float VehicleMaxLinearVelocity { get; private set; }
+    public static float VehicleMaxLinearVelocitySq { get; private set; }
+    public static float VehicleMaxAngularVelocity { get; private set; }
+    public static float VehicleMaxAngularVelocitySq { get; private set; }
+    public static float VehicleAngularDamping { get; private set; }
+    public static float VehicleFriction { get; private set; }
+    public static float VehicleRestitution { get; private set; }
+    public static float VehicleLinearFactor { get; private set; }
+    public static Vector3 VehicleLinearFactorV { get; private set; }
+    public static float VehicleAngularFactor { get; private set; }
+    public static Vector3 VehicleAngularFactorV { get; private set; }
+    public static float VehicleGroundGravityFudge { get; private set; }
+    public static float VehicleDebuggingEnabled { get; private set; }
+
+    public static float LinksetImplementation { get; private set; }
+    public static float LinkConstraintUseFrameOffset { get; private set; }
+    public static float LinkConstraintEnableTransMotor { get; private set; }
+    public static float LinkConstraintTransMotorMaxVel { get; private set; }
+    public static float LinkConstraintTransMotorMaxForce { get; private set; }
+    public static float LinkConstraintERP { get; private set; }
+    public static float LinkConstraintCFM { get; private set; }
+    public static float LinkConstraintSolverIterations { get; private set; }
+
+    public static float PID_D { get; private set; }    // derivative
+    public static float PID_P { get; private set; }    // proportional
+
+    // Various constants that come from that other virtual world that shall not be named.
+    public const float MinGravityZ = -1f;
+    public const float MaxGravityZ = 28f;
+    public const float MinFriction = 0f;
+    public const float MaxFriction = 255f;
+    public const float MinDensity = 0.01f;
+    public const float MaxDensity = 22587f;
+    public const float MinRestitution = 0f;
+    public const float MaxRestitution = 1f;
+
+    // ===========================================================================
+    public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
+    public delegate float ParamGet(BSScene scene);
+    public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
+    public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
+
+    public struct ParameterDefn
+    {
+        public string name;         // string name of the parameter
+        public string desc;         // a short description of what the parameter means
+        public float defaultValue;  // default value if not specified anywhere else
+        public ParamUser userParam; // get the value from the configuration file
+        public ParamGet getter;     // return the current value stored for this parameter
+        public ParamSet setter;     // set the current value for this parameter
+        public SetOnObject onObject;    // set the value on an object in the physical domain
+        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
+        {
+            name = n;
+            desc = d;
+            defaultValue = v;
+            userParam = u;
+            getter = g;
+            setter = s;
+            onObject = null;
+        }
+        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
+        {
+            name = n;
+            desc = d;
+            defaultValue = v;
+            userParam = u;
+            getter = g;
+            setter = s;
+            onObject = o;
+        }
+    }
+
+    // List of all of the externally visible parameters.
+    // For each parameter, this table maps a text name to getter and setters.
+    // To add a new externally referencable/settable parameter, add the paramter storage
+    //    location somewhere in the program and make an entry in this table with the
+    //    getters and setters.
+    // It is easiest to find an existing definition and copy it.
+    // Parameter values are floats. Booleans are converted to a floating value.
+    //
+    // A ParameterDefn() takes the following parameters:
+    //    -- the text name of the parameter. This is used for console input and ini file.
+    //    -- a short text description of the parameter. This shows up in the console listing.
+    //    -- a default value (float)
+    //    -- a delegate for fetching the parameter from the ini file.
+    //          Should handle fetching the right type from the ini file and converting it.
+    //    -- a delegate for getting the value as a float
+    //    -- a delegate for setting the value from a float
+    //    -- an optional delegate to update the value in the world. Most often used to
+    //          push the new value to an in-world object.
+    //
+    // The single letter parameters for the delegates are:
+    //    s = BSScene
+    //    o = BSPhysObject
+    //    p = string parameter name
+    //    l = localID of referenced object
+    //    v = value (float)
+    //    cf = parameter configuration class (for fetching values from ini file)
+    private static ParameterDefn[] ParameterDefinitions =
+    {
+        new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
+            (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); },
+            (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ),
+        new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
+            (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); },
+            (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ),
+        new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
+            (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); },
+            (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ),
+        new ParameterDefn("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { ShouldRemoveZeroWidthTriangles = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
+            (s) => { return BSParam.NumericBool(ShouldRemoveZeroWidthTriangles); },
+            (s,p,l,v) => { ShouldRemoveZeroWidthTriangles = BSParam.BoolNumeric(v); } ),
+
+        new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
+            32f,
+            (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); },
+            (s) => { return MeshLOD; },
+            (s,p,l,v) => { MeshLOD = v; } ),
+        new ParameterDefn("MeshLevelOfDetailCircular", "Level of detail for prims with circular cuts or shapes",
+            32f,
+            (s,cf,p,v) => { MeshCircularLOD = (float)cf.GetInt(p, (int)v); },
+            (s) => { return MeshCircularLOD; },
+            (s,p,l,v) => { MeshCircularLOD = v; } ),
+        new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
+            10f,
+            (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
+            (s) => { return MeshMegaPrimThreshold; },
+            (s,p,l,v) => { MeshMegaPrimThreshold = v; } ),
+        new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
+            32f,
+            (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
+            (s) => { return MeshMegaPrimLOD; },
+            (s,p,l,v) => { MeshMegaPrimLOD = v; } ),
+        new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
+            32f,
+            (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); },
+            (s) => { return SculptLOD; },
+            (s,p,l,v) => { SculptLOD = v; } ),
+
+        new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
+            10f,
+            (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_maxSubSteps; },
+            (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
+        new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
+            1f / 60f,
+            (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
+            (s) => { return (float)s.m_fixedTimeStep; },
+            (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
+        new ParameterDefn("NominalFrameRate", "The base frame rate we claim",
+            55f,
+            (s,cf,p,v) => { s.NominalFrameRate = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.NominalFrameRate; },
+            (s,p,l,v) => { s.NominalFrameRate = (int)v; } ),
+        new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
+            2048f,
+            (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_maxCollisionsPerFrame; },
+            (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
+        new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
+            8000f,
+            (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_maxUpdatesPerFrame; },
+            (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
+
+        new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
+            0.0001f,
+            (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
+            (s) => { return MinimumObjectMass; },
+            (s,p,l,v) => { MinimumObjectMass = v; } ),
+        new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
+            10000.01f,
+            (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
+            (s) => { return MaximumObjectMass; },
+            (s,p,l,v) => { MaximumObjectMass = v; } ),
+        new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
+            1000.0f,
+            (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); },
+            (s) => { return MaxLinearVelocity; },
+            (s,p,l,v) => { MaxLinearVelocity = v; } ),
+        new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
+            1000.0f,
+            (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); },
+            (s) => { return MaxAngularVelocity; },
+            (s,p,l,v) => { MaxAngularVelocity = v; } ),
+        // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
+        new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
+            20000.0f,
+            (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); },
+            (s) => { return MaxAddForceMagnitude; },
+            (s,p,l,v) => { MaxAddForceMagnitude = v; } ),
+        // Density is passed around as 100kg/m3. This scales that to 1kg/m3.
+        new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
+            0.01f,
+            (s,cf,p,v) => { DensityScaleFactor = cf.GetFloat(p, v); },
+            (s) => { return DensityScaleFactor; },
+            (s,p,l,v) => { DensityScaleFactor = v; } ),
+
+        new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
+            2200f,
+            (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); },
+            (s) => { return (float)PID_D; },
+            (s,p,l,v) => { PID_D = v; } ),
+        new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
+            900f,
+            (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); },
+            (s) => { return (float)PID_P; },
+            (s,p,l,v) => { PID_P = v; } ),
+
+        new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
+            0.2f,
+            (s,cf,p,v) => { DefaultFriction = cf.GetFloat(p, v); },
+            (s) => { return DefaultFriction; },
+            (s,p,l,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ),
+        new ParameterDefn("DefaultDensity", "Density for new objects" ,
+            10.000006836f,  // Aluminum g/cm3
+            (s,cf,p,v) => { DefaultDensity = cf.GetFloat(p, v); },
+            (s) => { return DefaultDensity; },
+            (s,p,l,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ),
+        new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
+            0f,
+            (s,cf,p,v) => { DefaultRestitution = cf.GetFloat(p, v); },
+            (s) => { return DefaultRestitution; },
+            (s,p,l,v) => { DefaultRestitution = v; s.UnmanagedParams[0].defaultRestitution = v; } ),
+        new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
+            0.04f,
+            (s,cf,p,v) => { CollisionMargin = cf.GetFloat(p, v); },
+            (s) => { return CollisionMargin; },
+            (s,p,l,v) => { CollisionMargin = v; s.UnmanagedParams[0].collisionMargin = v; } ),
+        new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
+            -9.80665f,
+            (s,cf,p,v) => { Gravity = cf.GetFloat(p, v); },
+            (s) => { return Gravity; },
+            (s,p,l,v) => { Gravity = v; s.UnmanagedParams[0].gravity = v; },
+            (s,o,v) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,v)); } ),
+
+
+        new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
+            0f,
+            (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); },
+            (s) => { return LinearDamping; },
+            (s,p,l,v) => { LinearDamping = v; },
+            (s,o,v) => { s.PE.SetDamping(o.PhysBody, v, AngularDamping); } ),
+        new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
+            0f,
+            (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); },
+            (s) => { return AngularDamping; },
+            (s,p,l,v) => { AngularDamping = v; },
+            (s,o,v) => { s.PE.SetDamping(o.PhysBody, LinearDamping, v); } ),
+        new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
+            0.2f,
+            (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
+            (s) => { return DeactivationTime; },
+            (s,p,l,v) => { DeactivationTime = v; },
+            (s,o,v) => { s.PE.SetDeactivationTime(o.PhysBody, v); } ),
+        new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
+            0.8f,
+            (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
+            (s) => { return LinearSleepingThreshold; },
+            (s,p,l,v) => { LinearSleepingThreshold = v;},
+            (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
+        new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
+            1.0f,
+            (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); },
+            (s) => { return AngularSleepingThreshold; },
+            (s,p,l,v) => { AngularSleepingThreshold = v;},
+            (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
+        new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
+            0.0f,     // set to zero to disable
+            (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
+            (s) => { return CcdMotionThreshold; },
+            (s,p,l,v) => { CcdMotionThreshold = v;},
+            (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ),
+        new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
+            0.2f,
+            (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
+            (s) => { return CcdSweptSphereRadius; },
+            (s,p,l,v) => { CcdSweptSphereRadius = v;},
+            (s,o,v) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, v); } ),
+        new ParameterDefn("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" ,
+            0.0f,
+            (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
+            (s) => { return ContactProcessingThreshold; },
+            (s,p,l,v) => { ContactProcessingThreshold = v;},
+            (s,o,v) => { s.PE.SetContactProcessingThreshold(o.PhysBody, v); } ),
+
+            new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
+            (float)BSTerrainPhys.TerrainImplementation.Mesh,
+            (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); },
+            (s) => { return TerrainImplementation; },
+            (s,p,l,v) => { TerrainImplementation = v; } ),
+        new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
+            0.3f,
+            (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); },
+            (s) => { return TerrainFriction; },
+            (s,p,l,v) => { TerrainFriction = v;  /* TODO: set on real terrain */} ),
+        new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
+            0.8f,
+            (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); },
+            (s) => { return TerrainHitFraction; },
+            (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
+        new ParameterDefn("TerrainRestitution", "Bouncyness" ,
+            0f,
+            (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); },
+            (s) => { return TerrainRestitution; },
+            (s,p,l,v) => { TerrainRestitution = v;  /* TODO: set on real terrain */ } ),
+        new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
+            0.08f,
+            (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); },
+            (s) => { return TerrainCollisionMargin; },
+            (s,p,l,v) => { TerrainCollisionMargin = v;  /* TODO: set on real terrain */ } ),
+
+        new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
+            0.2f,
+            (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); },
+            (s) => { return AvatarFriction; },
+            (s,p,l,v) => { AvatarFriction = v; } ),
+        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
+            0.95f,
+            (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
+            (s) => { return AvatarStandingFriction; },
+            (s,p,l,v) => { AvatarStandingFriction = v; } ),
+        new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
+            1.3f,
+            (s,cf,p,v) => { AvatarAlwaysRunFactor = cf.GetFloat(p, v); },
+            (s) => { return AvatarAlwaysRunFactor; },
+            (s,p,l,v) => { AvatarAlwaysRunFactor = v; } ),
+        new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
+            3.5f,
+            (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },
+            (s) => { return AvatarDensity; },
+            (s,p,l,v) => { AvatarDensity = v; } ),
+        new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
+            0f,
+            (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); },
+            (s) => { return AvatarRestitution; },
+            (s,p,l,v) => { AvatarRestitution = v; } ),
+        new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
+            0.6f,
+            (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); },
+            (s) => { return AvatarCapsuleWidth; },
+            (s,p,l,v) => { AvatarCapsuleWidth = v; } ),
+        new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
+            0.45f,
+            (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); },
+            (s) => { return AvatarCapsuleDepth; },
+            (s,p,l,v) => { AvatarCapsuleDepth = v; } ),
+        new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
+            1.5f,
+            (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); },
+            (s) => { return AvatarCapsuleHeight; },
+            (s,p,l,v) => { AvatarCapsuleHeight = v; } ),
+            new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
+            0.1f,
+            (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); },
+            (s) => { return AvatarContactProcessingThreshold; },
+            (s,p,l,v) => { AvatarContactProcessingThreshold = v; } ),
+            new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction",
+            0.3f,
+            (s,cf,p,v) => { AvatarStepHeight = cf.GetFloat(p, v); },
+            (s) => { return AvatarStepHeight; },
+            (s,p,l,v) => { AvatarStepHeight = v; } ),
+            new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)",
+            0.6f,
+            (s,cf,p,v) => { AvatarStepApproachFactor = cf.GetFloat(p, v); },
+            (s) => { return AvatarStepApproachFactor; },
+            (s,p,l,v) => { AvatarStepApproachFactor = v; } ),
+            new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step",
+            2.0f,
+            (s,cf,p,v) => { AvatarStepForceFactor = cf.GetFloat(p, v); },
+            (s) => { return AvatarStepForceFactor; },
+            (s,p,l,v) => { AvatarStepForceFactor = v; } ),
+
+        new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
+            1000.0f,
+            (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)VehicleMaxLinearVelocity; },
+            (s,p,l,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySq = v * v; } ),
+        new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
+            12.0f,
+            (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)VehicleMaxAngularVelocity; },
+            (s,p,l,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ),
+        new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
+            0.0f,
+            (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
+            (s) => { return VehicleAngularDamping; },
+            (s,p,l,v) => { VehicleAngularDamping = v; } ),
+        new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (0.0 - 1.0)",
+            1.0f,
+            (s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); },
+            (s) => { return VehicleLinearFactor; },
+            (s,p,l,v) => { VehicleLinearFactor = v; VehicleLinearFactorV = new Vector3(v, v, v); } ),
+        new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)",
+            1.0f,
+            (s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); },
+            (s) => { return VehicleAngularFactor; },
+            (s,p,l,v) => { VehicleAngularFactor = v; VehicleAngularFactorV = new Vector3(v, v, v); } ),
+        new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
+            0.0f,
+            (s,cf,p,v) => { VehicleFriction = cf.GetFloat(p, v); },
+            (s) => { return VehicleFriction; },
+            (s,p,l,v) => { VehicleFriction = v; } ),
+        new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
+            0.0f,
+            (s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); },
+            (s) => { return VehicleRestitution; },
+            (s,p,l,v) => { VehicleRestitution = v; } ),
+        new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
+            0.2f,
+            (s,cf,p,v) => { VehicleGroundGravityFudge = cf.GetFloat(p, v); },
+            (s) => { return VehicleGroundGravityFudge; },
+            (s,p,l,v) => { VehicleGroundGravityFudge = v; } ),
+        new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return VehicleDebuggingEnabled; },
+            (s,p,l,v) => { VehicleDebuggingEnabled = v; } ),
+
+            new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
+            0f,
+            (s,cf,p,v) => { MaxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
+            (s) => { return MaxPersistantManifoldPoolSize; },
+            (s,p,l,v) => { MaxPersistantManifoldPoolSize = v; s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
+            new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
+            0f,
+            (s,cf,p,v) => { MaxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
+            (s) => { return MaxCollisionAlgorithmPoolSize; },
+            (s,p,l,v) => { MaxCollisionAlgorithmPoolSize = v; s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
+            new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { ShouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return ShouldDisableContactPoolDynamicAllocation; },
+            (s,p,l,v) => { ShouldDisableContactPoolDynamicAllocation = v; s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ),
+            new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { ShouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return ShouldForceUpdateAllAabbs; },
+            (s,p,l,v) => { ShouldForceUpdateAllAabbs = v; s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ),
+            new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { ShouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return ShouldRandomizeSolverOrder; },
+            (s,p,l,v) => { ShouldRandomizeSolverOrder = v; s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ),
+            new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { ShouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return ShouldSplitSimulationIslands; },
+            (s,p,l,v) => { ShouldSplitSimulationIslands = v; s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
+            new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { ShouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return ShouldEnableFrictionCaching; },
+            (s,p,l,v) => { ShouldEnableFrictionCaching = v; s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
+            new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
+            0f,     // zero says use Bullet default
+            (s,cf,p,v) => { NumberOfSolverIterations = cf.GetFloat(p, v); },
+            (s) => { return NumberOfSolverIterations; },
+            (s,p,l,v) => { NumberOfSolverIterations = v; s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
+            new ParameterDefn("UseSingleSidedMeshes", "Whether to compute collisions based on single sided meshes.",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { UseSingleSidedMeshesF = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return UseSingleSidedMeshesF; },
+            (s,p,l,v) => { UseSingleSidedMeshesF = v; s.UnmanagedParams[0].useSingleSidedMeshes = v; } ),
+            new ParameterDefn("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))",
+            0f,
+            (s,cf,p,v) => { GlobalContactBreakingThreshold = cf.GetFloat(p, v); },
+            (s) => { return GlobalContactBreakingThreshold; },
+            (s,p,l,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ),
+
+            new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
+            (float)BSLinkset.LinksetImplementation.Compound,
+            (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); },
+            (s) => { return LinksetImplementation; },
+            (s,p,l,v) => { LinksetImplementation = v; } ),
+            new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return LinkConstraintUseFrameOffset; },
+            (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ),
+            new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return LinkConstraintEnableTransMotor; },
+            (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ),
+            new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
+            5.0f,
+            (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintTransMotorMaxVel; },
+            (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ),
+            new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
+            0.1f,
+            (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintTransMotorMaxForce; },
+            (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ),
+            new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
+            0.1f,
+            (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintCFM; },
+            (s,p,l,v) => { LinkConstraintCFM = v; } ),
+            new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
+            0.1f,
+            (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintERP; },
+            (s,p,l,v) => { LinkConstraintERP = v; } ),
+            new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
+            40,
+            (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintSolverIterations; },
+            (s,p,l,v) => { LinkConstraintSolverIterations = v; } ),
+
+        new ParameterDefn("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)",
+            0f,
+            (s,cf,p,v) => { s.PhysicsMetricDumpFrames = cf.GetFloat(p, (int)v); },
+            (s) => { return (float)s.PhysicsMetricDumpFrames; },
+            (s,p,l,v) => { s.PhysicsMetricDumpFrames = (int)v; } ),
+        new ParameterDefn("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool",
+            0f,
+            (s,cf,p,v) => { ; },
+            (s) => { return 0f; },
+            (s,p,l,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ),
+        new ParameterDefn("ResetConstraintSolver", "Setting this is any value resets the constraint solver",
+            0f,
+            (s,cf,p,v) => { ; },
+            (s) => { return 0f; },
+            (s,p,l,v) => { BSParam.ResetConstraintSolverTainted(s, v); } ),
+    };
+
+    // Convert a boolean to our numeric true and false values
+    public static float NumericBool(bool b)
+    {
+        return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
+    }
+
+    // Convert numeric true and false values to a boolean
+    public static bool BoolNumeric(float b)
+    {
+        return (b == ConfigurationParameters.numericTrue ? true : false);
+    }
+
+    // Search through the parameter definitions and return the matching
+    //    ParameterDefn structure.
+    // Case does not matter as names are compared after converting to lower case.
+    // Returns 'false' if the parameter is not found.
+    internal static bool TryGetParameter(string paramName, out ParameterDefn defn)
+    {
+        bool ret = false;
+        ParameterDefn foundDefn = new ParameterDefn();
+        string pName = paramName.ToLower();
+
+        foreach (ParameterDefn parm in ParameterDefinitions)
+        {
+            if (pName == parm.name.ToLower())
+            {
+                foundDefn = parm;
+                ret = true;
+                break;
+            }
+        }
+        defn = foundDefn;
+        return ret;
+    }
+
+    // Pass through the settable parameters and set the default values
+    internal static void SetParameterDefaultValues(BSScene physicsScene)
+    {
+        foreach (ParameterDefn parm in ParameterDefinitions)
+        {
+            parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
+        }
+    }
+
+    // Get user set values out of the ini file.
+    internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
+    {
+        foreach (ParameterDefn parm in ParameterDefinitions)
+        {
+            parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue);
+        }
+    }
+
+    internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
+
+    // This creates an array in the correct format for returning the list of
+    //    parameters. This is used by the 'list' option of the 'physics' command.
+    internal static void BuildParameterTable()
+    {
+        if (SettableParameters.Length < ParameterDefinitions.Length)
+        {
+            List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
+            for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
+            {
+                ParameterDefn pd = ParameterDefinitions[ii];
+                entries.Add(new PhysParameterEntry(pd.name, pd.desc));
+            }
+
+            // make the list alphabetical for estetic reasons
+            entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); });
+
+            SettableParameters = entries.ToArray();
+        }
+    }
+
+    private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v)
+    {
+        BSScene physScene = pPhysScene;
+        physScene.TaintedObject("BSParam.ResetBroadphasePoolTainted", delegate()
+        {
+            physScene.PE.ResetBroadphasePool(physScene.World);
+        });
+    }
+
+    private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v)
+    {
+        BSScene physScene = pPhysScene;
+        physScene.TaintedObject("BSParam.ResetConstraintSolver", delegate()
+        {
+            physScene.PE.ResetConstraintSolver(physScene.World);
+        });
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index f6a890e..f953c1e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -45,6 +45,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  *      ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
  *  The last two (and certainly the last one) should be referenced only in taint-time.
  */
+
+/*
+ * As of 20121221, the following are the call sequences (going down) for different script physical functions:
+ * llApplyImpulse       llApplyRotImpulse           llSetTorque             llSetForce
+ * 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              
+ */
+
+// Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
+public enum UpdatedProperties : uint
+{
+    Position                = 1 << 0,
+    Orientation             = 1 << 1,
+    Velocity                = 1 << 2,
+    Acceleration            = 1 << 3,
+    RotationalVelocity      = 1 << 4,
+    EntPropUpdates          = Position | Orientation | Velocity | Acceleration | RotationalVelocity,
+}
 public abstract class BSPhysObject : PhysicsActor
 {
     protected BSPhysObject()
@@ -55,15 +75,40 @@ public abstract class BSPhysObject : PhysicsActor
         PhysicsScene = parentScene;
         LocalID = localID;
         PhysObjectName = name;
+        Name = name;    // PhysicsActor also has the name of the object. Someday consolidate.
         TypeName = typeName;
 
-        Linkset = BSLinkset.Factory(PhysicsScene, this);
+        // Initialize variables kept in base.
+        GravModifier = 1.0f;
+        Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
+
+        // We don't have any physical representation yet.
+        PhysBody = new BulletBody(localID);
+        PhysShape = new BulletShape();
+
         LastAssetBuildFailed = false;
 
+        // Default material type. Also sets Friction, Restitution and Density.
+        SetMaterial((int)MaterialAttributes.Material.Wood);
+
         CollisionCollection = new CollisionEventUpdate();
+        CollisionsLastTick = CollisionCollection;
         SubscribedEventsMs = 0;
         CollidingStep = 0;
         CollidingGroundStep = 0;
+        CollisionAccumulation = 0;
+        ColliderIsMoving = false;
+        CollisionScore = 0;
+
+        // All axis free.
+        LockedAxis = LockedAxisFree;
+    }
+
+    // Tell the object to clean up.
+    public virtual void Destroy()
+    {
+        UnRegisterAllPreStepActions();
+        UnRegisterAllPostStepActions();
     }
 
     public BSScene PhysicsScene { get; protected set; }
@@ -71,13 +116,15 @@ public abstract class BSPhysObject : PhysicsActor
     public string PhysObjectName { get; protected set; }
     public string TypeName { get; protected set; }
 
-    public BSLinkset Linkset { get; set; }
 
     // Return the object mass without calculating it or having side effects
     public abstract float RawMass { get; }
     // Set the raw mass but also update physical mass properties (inertia, ...)
-    public abstract void UpdatePhysicalMassProperties(float mass);
+    // 'inWorld' true if the object has already been added to the dynamic world.
+    public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
 
+    // The gravity being applied to the object. A function of default grav, GravityModifier and Buoyancy.
+    public virtual OMV.Vector3 Gravity { get; set; }
     // The last value calculated for the prim's inertia
     public OMV.Vector3 Inertia { get; set; }
 
@@ -92,6 +139,7 @@ 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
@@ -105,29 +153,46 @@ public abstract class BSPhysObject : PhysicsActor
     public EntityProperties CurrentEntityProperties { get; set; }
     public EntityProperties LastEntityProperties { get; set; }
 
-    public abstract OMV.Vector3 Scale { get; set; }
+    public virtual OMV.Vector3 Scale { get; set; }
+
+    // It can be confusing for an actor to know if it should move or update an object
+    //    depeneding on the setting of 'selected', 'physical, ...
+    // This flag is the true test -- if true, the object is being acted on in the physical world
+    public abstract bool IsPhysicallyActive { get; }
+
+    // Detailed state of the object.
     public abstract bool IsSolid { get; }
     public abstract bool IsStatic { get; }
+    public abstract bool IsSelected { get; }
+
+    // Materialness
+    public MaterialAttributes.Material Material { get; private set; }
+    public override void SetMaterial(int material)
+    {
+        Material = (MaterialAttributes.Material)material;
+
+        // Setting the material sets the material attributes also.
+        MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
+        Friction = matAttrib.friction;
+        Restitution = matAttrib.restitution;
+        Density = matAttrib.density / BSParam.DensityScaleFactor;
+        DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
+    }
 
     // Stop all physical motion.
     public abstract void ZeroMotion(bool inTaintTime);
     public abstract void ZeroAngularMotion(bool inTaintTime);
 
-    // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
-    public virtual void StepVehicle(float timeStep) { }
-
     // Update the physical location and motion of the object. Called with data from Bullet.
     public abstract void UpdateProperties(EntityProperties entprop);
 
-    // Tell the object to clean up.
-    public abstract void Destroy();
-
     public abstract OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
+    public abstract OMV.Vector3 RawVelocity { get; set; }
     public abstract OMV.Vector3 ForceVelocity { get; set; }
 
     public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
@@ -136,6 +201,32 @@ public abstract class BSPhysObject : PhysicsActor
 
     public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
 
+    // The current velocity forward
+    public virtual float ForwardSpeed
+    {
+        get
+        {
+            OMV.Vector3 characterOrientedVelocity = RawVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
+            return characterOrientedVelocity.X;
+        }
+    }
+    // The forward speed we are trying to achieve (TargetVelocity)
+    public virtual float TargetVelocitySpeed
+    {
+        get
+        {
+            OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
+            return characterOrientedVelocity.X;
+        }
+    }
+
+    // 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; }
+
+    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
+
     #region Collisions
 
     // Requested number of milliseconds between collision events. Zero means disabled.
@@ -146,38 +237,82 @@ public abstract class BSPhysObject : PhysicsActor
     protected long CollidingStep { get; set; }
     // The simulation step that last had a collision with the ground
     protected long CollidingGroundStep { get; set; }
+    // The simulation step that last collided with an object
+    protected long CollidingObjectStep { get; set; }
     // The collision flags we think are set in Bullet
     protected CollisionFlags CurrentCollisionFlags { get; set; }
+    // On a collision, check the collider and remember if the last collider was moving
+    //    Used to modify the standing of avatars (avatars on stationary things stand still)
+    protected bool ColliderIsMoving;
+
+    // Count of collisions for this object
+    protected long CollisionAccumulation { get; set; }
+
+    public override bool IsColliding {
+        get { return (CollidingStep == PhysicsScene.SimulationStep); }
+        set {
+            if (value)
+                CollidingStep = PhysicsScene.SimulationStep;
+            else
+                CollidingStep = 0;
+            }
+    }
+    public override bool CollidingGround {
+        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
+        set
+        {
+            if (value)
+                CollidingGroundStep = PhysicsScene.SimulationStep;
+            else
+                CollidingGroundStep = 0;
+        }
+    }
+    public override bool CollidingObj {
+        get { return (CollidingObjectStep == PhysicsScene.SimulationStep); }
+        set { 
+            if (value)
+                CollidingObjectStep = PhysicsScene.SimulationStep;
+            else
+                CollidingObjectStep = 0;
+        }
+    }
 
     // The collisions that have been collected this tick
     protected CollisionEventUpdate CollisionCollection;
+    // Remember collisions from last tick for fancy collision based actions
+    //     (like a BSCharacter walking up stairs).
+    protected CollisionEventUpdate CollisionsLastTick;
 
     // The simulation step is telling this object about a collision.
     // Return 'true' if a collision was processed and should be sent up.
+    // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
     // Called at taint time from within the Step() function
     public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
         bool ret = false;
 
-        // The following lines make IsColliding() and IsCollidingGround() work
+        // The following lines make IsColliding(), CollidingGround() and CollidingObj work
         CollidingStep = PhysicsScene.SimulationStep;
         if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
         {
             CollidingGroundStep = PhysicsScene.SimulationStep;
         }
-
-        // prims in the same linkset cannot collide with each other
-        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
+        else
         {
-            return ret;
+            CollidingObjectStep = PhysicsScene.SimulationStep;
         }
 
-        // if someone has subscribed for collision events....
+        CollisionAccumulation++;
+
+        // For movement tests, remember if we are colliding with an object that is moving.
+        ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
+
+        // If someone has subscribed for collision events log the collision so it will be reported up
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
-                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
+                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);
 
             ret = true;
         }
@@ -191,8 +326,9 @@ public abstract class BSPhysObject : PhysicsActor
     public virtual bool SendCollisions()
     {
         bool ret = true;
+
         // If the 'no collision' call, force it to happen right now so quick collision_end
-        bool force = CollisionCollection.Count == 0;
+        bool force = (CollisionCollection.Count == 0 && CollisionsLastTick.Count != 0);
 
         // throttle the collisions to the number of milliseconds specified in the subscription
         if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
@@ -207,11 +343,16 @@ public abstract class BSPhysObject : PhysicsActor
                 ret = false;
             }
 
-            // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
+            DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
             base.SendCollisionUpdate(CollisionCollection);
 
-            // The collisionCollection structure is passed around in the simulator.
+            // Remember the collisions from this tick for some collision specific processing.
+            CollisionsLastTick = CollisionCollection;
+
+            // 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, 
+            //    a race condition is created for the other users of this instance.
             CollisionCollection = new CollisionEventUpdate();
         }
         return ret;
@@ -229,7 +370,8 @@ public abstract class BSPhysObject : PhysicsActor
 
             PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
-                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                if (PhysBody.HasPhysicalBody)
+                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
         else
@@ -243,21 +385,187 @@ public abstract class BSPhysObject : PhysicsActor
         SubscribedEventsMs = 0;
         PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            // 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);
         });
     }
     // Return 'true' if the simulator wants collision events
     public override bool SubscribedEvents() {
         return (SubscribedEventsMs > 0);
     }
+    // Because 'CollisionScore' is called many times while sorting, it should not be recomputed
+    //    each time called. So this is built to be light weight for each collision and to do
+    //    all the processing when the user asks for the info.
+    public void ComputeCollisionScore()
+    {
+        // Scale the collision count by the time since the last collision.
+        // The "+1" prevents dividing by zero.
+        long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1;
+        CollisionScore = CollisionAccumulation / timeAgo;
+    }
+    public override float CollisionScore { get; set; }
 
     #endregion // Collisions
 
+    #region Per Simulation Step actions
+    // There are some actions that must be performed for a physical object before each simulation step.
+    // These actions are optional so, rather than scanning all the physical objects and asking them
+    //     if they have anything to do, a physical object registers for an event call before the step is performed.
+    // This bookkeeping makes it easy to add, remove and clean up after all these registrations.
+    private Dictionary<string, BSScene.PreStepAction> RegisteredPrestepActions = new Dictionary<string, BSScene.PreStepAction>();
+    private Dictionary<string, BSScene.PostStepAction> RegisteredPoststepActions = new Dictionary<string, BSScene.PostStepAction>();
+    protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
+    {
+        string identifier = op + "-" + id.ToString();
+
+        lock (RegisteredPrestepActions)
+        {
+            // Clean out any existing action
+            UnRegisterPreStepAction(op, id);
+            RegisteredPrestepActions[identifier] = actn;
+            PhysicsScene.BeforeStep += actn;
+        }
+        DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
+    }
+
+    // Unregister a pre step action. Safe to call if the action has not been registered.
+    // Returns 'true' if an action was actually removed
+    protected bool UnRegisterPreStepAction(string op, uint id)
+    {
+        string identifier = op + "-" + id.ToString();
+        bool removed = false;
+        lock (RegisteredPrestepActions)
+        {
+            if (RegisteredPrestepActions.ContainsKey(identifier))
+            {
+                PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier];
+                RegisteredPrestepActions.Remove(identifier);
+                removed = true;
+            }
+        }
+        DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
+        return removed;
+    }
+
+    protected void UnRegisterAllPreStepActions()
+    {
+        lock (RegisteredPrestepActions)
+        {
+            foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredPrestepActions)
+            {
+                PhysicsScene.BeforeStep -= kvp.Value;
+            }
+            RegisteredPrestepActions.Clear();
+        }
+        DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
+    }
+    
+    protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn)
+    {
+        string identifier = op + "-" + id.ToString();
+
+        lock (RegisteredPoststepActions)
+        {
+            // Clean out any existing action
+            UnRegisterPostStepAction(op, id);
+            RegisteredPoststepActions[identifier] = actn;
+            PhysicsScene.AfterStep += actn;
+        }
+        DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
+    }
+
+    // Unregister a pre step action. Safe to call if the action has not been registered.
+    // Returns 'true' if an action was actually removed.
+    protected bool UnRegisterPostStepAction(string op, uint id)
+    {
+        string identifier = op + "-" + id.ToString();
+        bool removed = false;
+        lock (RegisteredPoststepActions)
+        {
+            if (RegisteredPoststepActions.ContainsKey(identifier))
+            {
+                PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier];
+                RegisteredPoststepActions.Remove(identifier);
+                removed = true;
+            }
+        }
+        DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed);
+        return removed;
+    }
+
+    protected void UnRegisterAllPostStepActions()
+    {
+        lock (RegisteredPoststepActions)
+        {
+            foreach (KeyValuePair<string, BSScene.PostStepAction> kvp in RegisteredPoststepActions)
+            {
+                PhysicsScene.AfterStep -= kvp.Value;
+            }
+            RegisteredPoststepActions.Clear();
+        }
+        DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID);
+    }
+
+    // When an update to the physical properties happens, this event is fired to let
+    //    different actors to modify the update before it is passed around
+    public delegate void PreUpdatePropertyAction(ref EntityProperties entprop);
+    public event PreUpdatePropertyAction OnPreUpdateProperty;
+    protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop)
+    {
+        PreUpdatePropertyAction actions = OnPreUpdateProperty;
+        if (actions != null)
+            actions(ref entprop);
+    }
+
+    private Dictionary<string, PreUpdatePropertyAction> RegisteredPreUpdatePropertyActions = new Dictionary<string, PreUpdatePropertyAction>();
+    public void RegisterPreUpdatePropertyAction(string identifier, PreUpdatePropertyAction actn)
+    {
+        lock (RegisteredPreUpdatePropertyActions)
+        {
+            // Clean out any existing action
+            UnRegisterPreUpdatePropertyAction(identifier);
+            RegisteredPreUpdatePropertyActions[identifier] = actn;
+            OnPreUpdateProperty += actn;
+        }
+        DetailLog("{0},BSPhysObject.RegisterPreUpdatePropertyAction,id={1}", LocalID, identifier);
+    }
+    public bool UnRegisterPreUpdatePropertyAction(string identifier)
+    {
+        bool removed = false;
+        lock (RegisteredPreUpdatePropertyActions)
+        {
+            if (RegisteredPreUpdatePropertyActions.ContainsKey(identifier))
+            {
+                OnPreUpdateProperty -= RegisteredPreUpdatePropertyActions[identifier];
+                RegisteredPreUpdatePropertyActions.Remove(identifier);
+                removed = true;
+            }
+        }
+        DetailLog("{0},BSPhysObject.UnRegisterPreUpdatePropertyAction,id={1},removed={2}", LocalID, identifier, removed);
+        return removed;
+    }
+    public void UnRegisterAllPreUpdatePropertyActions()
+    {
+        lock (RegisteredPreUpdatePropertyActions)
+        {
+            foreach (KeyValuePair<string, PreUpdatePropertyAction> kvp in RegisteredPreUpdatePropertyActions)
+            {
+                OnPreUpdateProperty -= kvp.Value;
+            }
+            RegisteredPreUpdatePropertyActions.Clear();
+        }
+        DetailLog("{0},BSPhysObject.UnRegisterAllPreUpdatePropertyAction,", LocalID);
+    }
+
+    #endregion // Per Simulation Step actions
+
     // 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);
     }
+
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
index 20f5180..9442854 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
@@ -59,13 +59,7 @@ public class BSPlugin : IPhysicsPlugin
     {
         if (_mScene == null)
         {
-            if (Util.IsWindows())
-                Util.LoadArchSpecificWindowsDll("BulletSim.dll");
-            // If not Windows, loading is performed by the
-            // Mono loader as specified in
-            // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
-
-            _mScene = new BSScene(sceneIdentifier);
+            _mScene = new BSScene(GetName(), sceneIdentifier);
         }
         return (_mScene);
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 2b3fa25..0323b0d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -39,51 +39,47 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 
     [Serializable]
-public sealed class BSPrim : BSPhysObject
+public class BSPrim : BSPhysObject
 {
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS PRIM]";
 
     // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
-    // Often Scale is unity because the meshmerizer will apply _size when creating the mesh.
     private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
 
     private bool _grabbed;
     private bool _isSelected;
     private bool _isVolumeDetect;
+
+    // _position is what the simulator thinks the positions of the prim is.
     private OMV.Vector3 _position;
+
     private float _mass;    // the mass of this object
-    private float _density;
     private OMV.Vector3 _force;
     private OMV.Vector3 _velocity;
     private OMV.Vector3 _torque;
-    private float _collisionScore;
     private OMV.Vector3 _acceleration;
     private OMV.Quaternion _orientation;
     private int _physicsActorType;
     private bool _isPhysical;
     private bool _flying;
-    private float _friction;
-    private float _restitution;
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
-    private bool _isColliding;
-    private bool _collidingGround;
-    private bool _collidingObj;
     private bool _floatOnWater;
     private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
 
-    private BSDynamics _vehicle;
+    public BSDynamics VehicleController { get; private set; }
 
+    private BSVMotor _targetMotor;
     private OMV.Vector3 _PIDTarget;
-    private bool _usePID;
     private float _PIDTau;
-    private bool _useHoverPID;
+
+    private BSFMotor _hoverMotor;
     private float _PIDHoverHeight;
     private PIDHoverType _PIDHoverType;
-    private float _PIDHoverTao;
+    private float _PIDHoverTau;
 
     public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
                        OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
@@ -93,23 +89,18 @@ public sealed class BSPrim : BSPhysObject
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
-        Scale = size;   // the scale will be set by CreateGeom depending on object type
+        Scale = size;   // prims are the size the user wants them to be (different for BSCharactes).
         _orientation = rotation;
-        _buoyancy = 1f;
+        _buoyancy = 0f;
         _velocity = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
         BaseShape = pbs;
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
-        _friction = PhysicsScene.Params.defaultFriction;  // TODO: compute based on object material
-        _density = PhysicsScene.Params.defaultDensity;    // TODO: compute based on object material
-        _restitution = PhysicsScene.Params.defaultRestitution;
-        _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
-        _mass = CalculateMass();
 
-        // No body or shape yet
-        PhysBody = new BulletBody(LocalID, IntPtr.Zero);
-        PhysShape = new BulletShape(IntPtr.Zero);
+        VehicleController = new BSDynamics(PhysicsScene, this);            // add vehicleness
+
+        _mass = CalculateMass();
 
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
@@ -117,7 +108,7 @@ public sealed class BSPrim : BSPhysObject
         {
             CreateGeomAndObject(true);
 
-            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
+            CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
         });
     }
 
@@ -125,15 +116,7 @@ public sealed class BSPrim : BSPhysObject
     public override void Destroy()
     {
         // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
-
-        // Undo any links between me and any other object
-        BSPhysObject parentBefore = Linkset.LinksetRoot;
-        int childrenBefore = Linkset.NumberOfChildren;
-
-        Linkset = Linkset.RemoveMeFromLinkset(this);
-
-        DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
-            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
+        base.Destroy();
 
         // Undo any vehicle properties
         this.VehicleType = (int)Vehicle.TYPE_NONE;
@@ -142,8 +125,10 @@ public sealed class BSPrim : BSPhysObject
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, null);
+            PhysBody.Clear();
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, null);
+            PhysShape.Clear();
         });
     }
 
@@ -157,31 +142,37 @@ public sealed class BSPrim : BSPhysObject
             // We presume the scale and size are the same. If scale must be changed for
             //     the physical shape, that is done when the geometry is built.
             _size = value;
+            Scale = _size;
             ForceBodyShapeRebuild(false);
         }
     }
-    // Scale is what we set in the physics engine. It is different than 'size' in that
-    //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
-    public override OMV.Vector3 Scale { get; set; }
 
     public override PrimitiveBaseShape Shape {
         set {
             BaseShape = value;
+            LastAssetBuildFailed = false;
             ForceBodyShapeRebuild(false);
         }
     }
-    // Whatever the linkset wants is what I want.
+    // 'unknown' says to choose the best type
     public override BSPhysicsShapeType PreferredPhysicalShape
-        { get { return Linkset.PreferredPhysicalShape(this); } }
+        { get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } }
 
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
-        LastAssetBuildFailed = false;
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
+        if (inTaintTime)
         {
             _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 {
@@ -189,46 +180,31 @@ public sealed class BSPrim : BSPhysObject
         }
     }
     public override bool Selected {
-        set {
-            _isSelected = value;
-            PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
+        set
+        {
+            if (value != _isSelected)
             {
-                DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
-                SetObjectDynamic(false);
-            });
+                _isSelected = value;
+                PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
+                {
+                    DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
+                    SetObjectDynamic(false);
+                });
+            }
         }
     }
+    public override bool IsSelected
+    {
+        get { return _isSelected; }
+    }
     public override void CrossingFailure() { return; }
 
     // link me to the specified parent
     public override void link(PhysicsActor obj) {
-        BSPrim parent = obj as BSPrim;
-        if (parent != null)
-        {
-            BSPhysObject parentBefore = Linkset.LinksetRoot;
-            int childrenBefore = Linkset.NumberOfChildren;
-
-            Linkset = parent.Linkset.AddMeToLinkset(this);
-
-            DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
-                LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-        }
-        return;
     }
 
     // delink me from my linkset
     public override void delink() {
-        // TODO: decide if this parent checking needs to happen at taint time
-        // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
-
-        BSPhysObject parentBefore = Linkset.LinksetRoot;
-        int childrenBefore = Linkset.NumberOfChildren;
-
-        Linkset = Linkset.RemoveMeFromLinkset(this);
-
-        DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
-            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-        return;
     }
 
     // Set motion values to zero.
@@ -244,7 +220,8 @@ public sealed class BSPrim : BSPhysObject
         // Zero some other properties in the physics engine
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
-            BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+            if (PhysBody.HasPhysicalBody)
+                PhysicsScene.PE.ClearAllForces(PhysBody);
         });
     }
     public override void ZeroAngularMotion(bool inTaintTime)
@@ -253,14 +230,57 @@ public sealed class BSPrim : BSPhysObject
         // Zero some other properties in the physics engine
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
-            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
+                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+            }
         });
     }
 
     public override void LockAngularMotion(OMV.Vector3 axis)
     {
         DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
+
+        OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f);
+        if (axis.X != 1) locking.X = 0f;
+        if (axis.Y != 1) locking.Y = 0f;
+        if (axis.Z != 1) locking.Z = 0f;
+        LockedAxis = locking;
+
+        /*  Not implemented yet
+        if (LockedAxis != LockedAxisFree)
+        {
+            // Something is locked so start the thingy that keeps that axis from changing
+            RegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion", delegate(ref EntityProperties entprop)
+            {
+                if (LockedAxis != LockedAxisFree)
+                {
+                    if (IsPhysicallyActive)
+                    {
+                        // Bullet can lock axis but it only works for global axis.
+                        // Check if this prim is aligned on global axis and use Bullet's
+                        //    system if so.
+
+                        ForceOrientation = entprop.Rotation;
+                        ForceRotationalVelocity = entprop.RotationalVelocity;
+                    }
+                }
+                else
+                {
+                    UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
+                }
+
+            });
+        }
+        else
+        {
+            // Everything seems unlocked
+            UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
+        }
+         */
+
         return;
     }
 
@@ -271,41 +291,41 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 Position {
         get {
-            // child prims move around based on their parent. Need to get the latest location
-            if (!Linkset.IsRoot(this))
-                _position = Linkset.Position(this);
-
             // don't do the GetObjectPosition for root elements because this function is called a zillion times.
-            // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
+            // _position = ForcePosition;
             return _position;
         }
         set {
             // If the position must be forced into the physics engine, use ForcePosition.
+            // All positions are given in world positions.
             if (_position == value)
             {
+                DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
                 return;
             }
             _position = value;
-            // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
             PositionSanityCheck(false);
+
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
-                // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-                ActivateIfPhysical(false);
+                DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                ForcePosition = _position;
             });
         }
     }
+
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            _position = PhysicsScene.PE.GetPosition(PhysBody);
             return _position;
         }
         set {
             _position = value;
-            // PositionSanityCheck();   // Don't do this! Causes a loop and caller should know better.
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-            ActivateIfPhysical(false);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+                ActivateIfPhysical(false);
+            }
         }
     }
 
@@ -316,119 +336,199 @@ public sealed class BSPrim : BSPhysObject
     {
         bool ret = false;
 
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        // We don't care where non-physical items are placed
+        if (!IsPhysicallyActive)
+            return ret;
+
+        if (!PhysicsScene.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
+            //     the time, we just ignore the position.
+            return ret;
+        }
+
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
         OMV.Vector3 upForce = OMV.Vector3.Zero;
-        if (Position.Z < terrainHeight)
+        float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z));
+        if ((RawPosition.Z + approxSize / 2f) < terrainHeight)
         {
-            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
+            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
             float targetHeight = terrainHeight + (Size.Z / 2f);
-            // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
-            upForce.Z = (terrainHeight - Position.Z) * 1f;
+            // 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)
+            {
+                ForcePosition = _position;
+            }
+            // If we are throwing the object around, zero its other forces
+            ZeroMotion(inTaintTime);
             ret = true;
         }
 
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
-            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
             // TODO: a floating motor so object will bob in the water
-            if (Math.Abs(Position.Z - waterHeight) > 0.1f)
+            if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
             {
                 // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
-                upForce.Z = (waterHeight - Position.Z) * 1f;
+                upForce.Z = (waterHeight - RawPosition.Z) * 1f;
+
+                // Apply upforce and overcome gravity.
+                OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
+                DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
+                AddForce(correctionForce, false, inTaintTime);
                 ret = true;
             }
         }
 
-        // TODO: check for out of bounds
-
-        // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
-        if (ret)
-        {
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck:belowTerrain", delegate()
-            {
-                // Apply upforce and overcome gravity.
-                ForceVelocity = ForceVelocity + upForce - PhysicsScene.DefaultGravity;
-            });
-        }
         return ret;
     }
 
     // Return the effective mass of the object.
-    // If there are multiple items in the linkset, add them together for the root
+        // The definition of this call is to return the mass of the prim.
+        // If the simulator cares about the mass of the linkset, it will sum it itself.
     public override float Mass
     {
-        get
-        {
-            return Linkset.LinksetMass;
-            // return _mass;
-        }
+        get { return _mass; }
+    }
+    // TotalMass returns the mass of the large object the prim may be in (overridden by linkset code)
+    public virtual float TotalMass
+    {
+        get { return _mass; }
     }
-
     // used when we only want this prim's mass and not the linkset thing
     public override float RawMass { 
         get { return _mass; }
     }
     // Set the physical mass to the passed mass.
     // Note that this does not change _mass!
-    public override void UpdatePhysicalMassProperties(float physMass)
+    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
     {
-        if (IsStatic)
+        if (PhysBody.HasPhysicalBody)
         {
-            Inertia = OMV.Vector3.Zero;
-            BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
-            BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+            if (IsStatic)
+            {
+                PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity);
+                Inertia = OMV.Vector3.Zero;
+                PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia);
+                PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
+            }
+            else
+            {
+                if (inWorld)
+                {
+                    // 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);
+                }
+
+                // The computation of mass props requires gravity to be set on the object.
+                Gravity = ComputeGravity(Buoyancy);
+                PhysicsScene.PE.SetGravity(PhysBody, Gravity);
+
+                Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
+                PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
+                PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
+
+                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}",
+                                            LocalID, physMass, Inertia, Gravity, inWorld);
+
+                if (inWorld)
+                {
+                    AddObjectToPhysicalWorld();
+                }
+            }
         }
-        else
+    }
+
+    // Return what gravity should be set to this very moment
+    public OMV.Vector3 ComputeGravity(float buoyancy)
+    {
+        OMV.Vector3 ret = PhysicsScene.DefaultGravity;
+
+        if (!IsStatic)
         {
-            Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-            BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
-            BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
-            // center of mass is at the zero of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
-            DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia);
+            ret *= (1f - buoyancy);
+            ret *= GravModifier;
         }
+
+        return ret;
     }
 
     // Is this used?
     public override OMV.Vector3 CenterOfMass
     {
-        get { return Linkset.CenterOfMass; }
+        get { return RawPosition; }
     }
 
     // Is this used?
     public override OMV.Vector3 GeometricCenter
     {
-        get { return Linkset.GeometricCenter; }
+        get { return RawPosition; }
     }
 
     public override OMV.Vector3 Force {
         get { return _force; }
         set {
             _force = value;
-            PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
+            if (_force != OMV.Vector3.Zero)
             {
-                // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
-            });
+                // If the force is non-zero, it must be reapplied each tick because
+                //    Bullet clears the forces applied last frame.
+                RegisterPreStepAction("BSPrim.setForce", LocalID,
+                    delegate(float timeStep)
+                    {
+                        if (!IsPhysicallyActive || _force == OMV.Vector3.Zero)
+                        {
+                            UnRegisterPreStepAction("BSPrim.setForce", LocalID);
+                            return;
+                        }
+
+                        DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
+                        if (PhysBody.HasPhysicalBody)
+                        {
+                            PhysicsScene.PE.ApplyCentralForce(PhysBody, _force);
+                            ActivateIfPhysical(false);
+                        }
+                    }
+                );
+            }
+            else
+            {
+                UnRegisterPreStepAction("BSPrim.setForce", LocalID);
+            }
         }
     }
 
     public override int VehicleType {
         get {
-            return (int)_vehicle.Type;   // if we are a vehicle, return that type
+            return (int)VehicleController.Type;   // if we are a vehicle, return that type
         }
         set {
             Vehicle type = (Vehicle)value;
 
-            // Tell the scene about the vehicle so it will get processing each frame.
-            PhysicsScene.VehicleInSceneTypeChanged(this, type);
-
             PhysicsScene.TaintedObject("setVehicleType", delegate()
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
-                _vehicle.ProcessTypeChange(type);
+                VehicleController.ProcessTypeChange(type);
                 ActivateIfPhysical(false);
+
+                // If an active vehicle, register the vehicle code to be called before each step
+                if (VehicleController.Type == Vehicle.TYPE_NONE)
+                {
+                    UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
+                    PhysicsScene.AfterStep -= VehicleController.PostStep;
+                }
+                else
+                {
+                    RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step);
+                    PhysicsScene.AfterStep += VehicleController.PostStep;
+                }
             });
         }
     }
@@ -436,7 +536,7 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
-            _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
+            VehicleController.ProcessFloatVehicleParam((Vehicle)param, value);
             ActivateIfPhysical(false);
         });
     }
@@ -444,7 +544,7 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
-            _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
+            VehicleController.ProcessVectorVehicleParam((Vehicle)param, value);
             ActivateIfPhysical(false);
         });
     }
@@ -452,7 +552,7 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
-            _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
+            VehicleController.ProcessRotationVehicleParam((Vehicle)param, rotation);
             ActivateIfPhysical(false);
         });
     }
@@ -460,27 +560,10 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
-            _vehicle.ProcessVehicleFlags(param, remove);
+            VehicleController.ProcessVehicleFlags(param, remove);
         });
     }
 
-    // Called each simulation step to advance vehicle characteristics.
-    // Called from Scene when doing simulation step so we're in taint processing time.
-    public override void StepVehicle(float timeStep)
-    {
-        if (IsPhysical && _vehicle.IsActive)
-        {
-            _vehicle.Step(timeStep);
-            /* // TEST TEST DEBUG DEBUG -- trying to reduce the extra action of Bullet simulation step
-            PhysicsScene.PostTaintObject("BSPrim.StepVehicles", LocalID, delegate()
-            {
-                // This resets the interpolation values and recomputes the tensor variables
-                BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
-            });
-             */
-        }
-    }
-
     // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
     public override void SetVolumeDetect(int param) {
         bool newValue = (param != 0);
@@ -495,6 +578,81 @@ public sealed class BSPrim : BSPhysObject
         }
         return;
     }
+    public override void SetMaterial(int material)
+    {
+        base.SetMaterial(material);
+        PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate()
+        {
+            UpdatePhysicalParameters();
+        });
+    }
+    public override float Friction
+    {
+        get { return base.Friction; }
+        set
+        {
+            if (base.Friction != value)
+            {
+                base.Friction = value;
+                PhysicsScene.TaintedObject("BSPrim.setFriction", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float Restitution
+    {
+        get { return base.Restitution; }
+        set
+        {
+            if (base.Restitution != value)
+            {
+                base.Restitution = value;
+                PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    // The simulator/viewer keep density as 100kg/m3.
+    // Remember to use BSParam.DensityScaleFactor to create the physical density.
+    public override float Density
+    {
+        get { return base.Density; }
+        set
+        {
+            if (base.Density != value)
+            {
+                base.Density = value;
+                PhysicsScene.TaintedObject("BSPrim.setDensity", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float GravModifier
+    {
+        get { return base.GravModifier; }
+        set
+        {
+            if (base.GravModifier != value)
+            {
+                base.GravModifier = value;
+                PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override OMV.Vector3 RawVelocity
+    {
+        get { return _velocity; }
+        set { _velocity = value; }
+    }
     public override OMV.Vector3 Velocity {
         get { return _velocity; }
         set {
@@ -502,30 +660,53 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+                ForceVelocity = _velocity;
             });
         }
     }
     public override OMV.Vector3 ForceVelocity {
         get { return _velocity; }
         set {
+            PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
+
             _velocity = value;
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, _velocity);
+                PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
+                ActivateIfPhysical(false);
+            }
         }
     }
     public override OMV.Vector3 Torque {
         get { return _torque; }
         set {
             _torque = value;
-            AddAngularForce(_torque, false, false);
+            if (_torque != OMV.Vector3.Zero)
+            {
+                // If the torque is non-zero, it must be reapplied each tick because
+                //    Bullet clears the forces applied last frame.
+                RegisterPreStepAction("BSPrim.setTorque", LocalID,
+                    delegate(float timeStep)
+                    {
+                        if (!IsPhysicallyActive || _torque == OMV.Vector3.Zero)
+                        {
+                            UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
+                            return;
+                        }
+
+                        if (PhysBody.HasPhysicalBody)
+                            AddAngularForce(_torque, false, true);
+                    }
+                );
+            }
+            else
+            {
+                UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
+            }
             // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
         }
     }
-    public override float CollisionScore {
-        get { return _collisionScore; }
-        set { _collisionScore = value;
-        }
-    }
     public override OMV.Vector3 Acceleration {
         get { return _acceleration; }
         set { _acceleration = value; }
@@ -537,23 +718,16 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Quaternion Orientation {
         get {
-            // Children move around because tied to parent. Get a fresh value.
-            if (!Linkset.IsRoot(this))
-            {
-                _orientation = Linkset.Orientation(this);
-            }
             return _orientation;
         }
         set {
             if (_orientation == value)
                 return;
             _orientation = value;
-            // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
+
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
-                // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                ForceOrientation = _orientation;
             });
         }
     }
@@ -562,13 +736,14 @@ public sealed class BSPrim : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
             return _orientation;
         }
         set
         {
             _orientation = value;
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            if (PhysBody.HasPhysicalBody)
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -583,7 +758,7 @@ public sealed class BSPrim : BSPhysObject
                 _isPhysical = value;
                 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
                 {
-                    // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
+                    DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
                     SetObjectDynamic(true);
                     // whether phys-to-static or static-to-phys, the object is not moving.
                     ZeroMotion(true);
@@ -604,6 +779,12 @@ public sealed class BSPrim : BSPhysObject
         get { return !IsPhantom && !_isVolumeDetect; }
     }
 
+    // The object is moving and is actively being dynamic in the physical world
+    public override bool IsPhysicallyActive
+    {
+        get { return !_isSelected && IsPhysical; }
+    }
+
     // Make gravity work if the object is physical and not selected
     // Called at taint-time!!
     private void SetObjectDynamic(bool forceRebuild)
@@ -618,19 +799,24 @@ public sealed class BSPrim : BSPhysObject
     //     isSolid: other objects bounce off of this object
     //     isVolumeDetect: other objects pass through but can generate collisions
     //     collisionEvents: whether this object returns collision events
-    private void UpdatePhysicalParameters()
+    public virtual void UpdatePhysicalParameters()
     {
-        // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
+        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);
+            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).
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
 
         // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
-        _vehicle.Refresh();
+        VehicleController.Refresh();
 
         // Arrange for collision events if the simulator wants them
         EnableCollisions(SubscribedEvents());
@@ -638,25 +824,13 @@ public sealed class BSPrim : BSPhysObject
         // Make solid or not (do things bounce off or pass through this object).
         MakeSolid(IsSolid);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        AddObjectToPhysicalWorld();
 
         // Rebuild its shape
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
 
-        // Collision filter can be set only when the object is in the world
-        if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0)
-        {
-            BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask);
-        }
-
-        // Recompute any linkset parameters.
-        // When going from non-physical to physical, this re-enables the constraints that
-        //     had been automatically disabled when the mass was set to zero.
-        // For compound based linksets, this enables and disables interactions of the children.
-        Linkset.Refresh(this);
-
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
-                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
+        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);
     }
 
     // "Making dynamic" means changing to and from static.
@@ -664,79 +838,76 @@ public sealed class BSPrim : BSPhysObject
     // When dynamic, the object can fall and be pushed by others.
     // This is independent of its 'solidness' which controls what passes through
     //    this object and what interacts with it.
-    private void MakeDynamic(bool makeStatic)
+    protected virtual void MakeDynamic(bool makeStatic)
     {
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             ZeroMotion(true);
-            // Center of mass is at the center of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+
+            // Set various physical properties so other object interact properly
+            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
+            PhysicsScene.PE.SetFriction(PhysBody, Friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
+
             // Mass is zero which disables a bunch of physics stuff in Bullet
-            UpdatePhysicalMassProperties(0f);
+            UpdatePhysicalMassProperties(0f, false);
             // Set collision detection parameters
-            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            if (BSParam.CcdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
             }
-            // There can be special things needed for implementing linksets
-            Linkset.MakeStatic(this);
+
             // The activation state is 'disabled' so Bullet will not try to act on it.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
-            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
+            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
 
-            PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
-            PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
+            // This collides like a static object
+            PhysBody.collisionType = CollisionType.Static;
         }
         else
         {
             // Not a Bullet static object
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
 
-            // Set various physical properties so internal dynamic properties will get computed correctly as they are set
-            BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
+            // Set various physical properties so other object interact properly
+            PhysicsScene.PE.SetFriction(PhysBody, Friction);
+            PhysicsScene.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
             // Since this can be called multiple times, only zero forces when becoming physical
-            // BulletSimAPI.ClearAllForces2(BSBody.ptr);
+            // PhysicsScene.PE.ClearAllForces(BSBody);
 
             // For good measure, make sure the transform is set through to the motion state
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-
-            // Center of mass is at the center of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+            ForcePosition = _position;
 
             // A dynamic object has mass
-            UpdatePhysicalMassProperties(RawMass);
+            UpdatePhysicalMassProperties(RawMass, false);
 
             // Set collision detection parameters
-            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            if (BSParam.CcdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
             }
 
             // Various values for simulation limits
-            BulletSimAPI.SetDamping2(PhysBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
-            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, PhysicsScene.Params.deactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+            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);
 
-            // There might be special things needed for implementing linksets.
-            Linkset.MakeDynamic(this);
+            // 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.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
-            // BulletSimAPI.Activate2(BSBody.ptr, true);
-
-            PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
-            PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
+            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
         }
     }
 
@@ -746,7 +917,7 @@ public sealed 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)BulletSimAPI.GetBodyType2(PhysBody.ptr);
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(PhysBody);
         if (makeSolid)
         {
             // Verify the previous code created the correct shape for this type of thing.
@@ -754,7 +925,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
         else
         {
@@ -762,9 +933,10 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
-            PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+
+            // Change collision info from a static object to a ghosty collision object
+            PhysBody.collisionType = CollisionType.VolumeDetect;
         }
     }
 
@@ -773,8 +945,8 @@ public sealed class BSPrim : BSPhysObject
     // Called in taint-time!!
     private void ActivateIfPhysical(bool forceIt)
     {
-        if (IsPhysical)
-            BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
+        if (IsPhysical && PhysBody.HasPhysicalBody)
+            PhysicsScene.PE.Activate(PhysBody, forceIt);
     }
 
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
@@ -782,11 +954,27 @@ public sealed class BSPrim : BSPhysObject
     {
         if (wantsCollisionEvents)
         {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        }
+        else
+        {
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        }
+    }
+
+    // Add me to the physical world.
+    // Object MUST NOT already be in the world.
+    // This routine exists because some assorted properties get mangled by adding to the world.
+    internal void AddObjectToPhysicalWorld()
+    {
+        if (PhysBody.HasPhysicalBody)
+        {
+            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
         }
         else
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
+            DetailLog("{0},BSPrim.AddObjectToPhysicalWorld,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
         }
     }
 
@@ -805,18 +993,6 @@ public sealed class BSPrim : BSPhysObject
         get { return _throttleUpdates; }
         set { _throttleUpdates = value; }
     }
-    public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
-        set { _isColliding = value; }
-    }
-    public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
-        set { _collidingGround = value; }
-    }
-    public override bool CollidingObj {
-        get { return _collidingObj; }
-        set { _collidingObj = value; }
-    }
     public bool IsPhantom {
         get {
             // SceneObjectPart removes phantom objects from the physics scene
@@ -831,32 +1007,23 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
             {
                 if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                 else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
             });
         }
     }
     public override OMV.Vector3 RotationalVelocity {
         get {
-            /*
-            OMV.Vector3 pv = OMV.Vector3.Zero;
-            // if close to zero, report zero
-            // This is copied from ODE but I'm not sure why it returns zero but doesn't
-            //    zero the property in the physics engine.
-            if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
-                return pv;
-             */
-
             return _rotationalVelocity;
         }
         set {
             _rotationalVelocity = value;
+            Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
-                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                ForceRotationalVelocity = _rotationalVelocity;
             });
         }
     }
@@ -866,7 +1033,13 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+                // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
+                ActivateIfPhysical(false);
+            }
         }
     }
     public override bool Kinematic {
@@ -890,9 +1063,10 @@ public sealed class BSPrim : BSPhysObject
         set {
             _buoyancy = value;
             // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-            // Buoyancy is faked by changing the gravity applied to the object
-            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            // Force the recalculation of the various inertia,etc variables in the object
+            DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass);
+            UpdatePhysicalMassProperties(_mass, true);
+            ActivateIfPhysical(false);
         }
     }
 
@@ -900,17 +1074,112 @@ public sealed class BSPrim : BSPhysObject
     public override OMV.Vector3 PIDTarget {
         set { _PIDTarget = value; }
     }
-    public override bool PIDActive {
-        set { _usePID = value; }
-    }
     public override float PIDTau {
         set { _PIDTau = value; }
     }
+    public override bool PIDActive {
+        set {
+            if (value)
+            {
+                // We're taking over after this.
+                ZeroMotion(true);
+
+                _targetMotor = new BSVMotor("BSPrim.PIDTarget",
+                                            _PIDTau,                    // timeScale
+                                            BSMotor.Infinite,           // decay time scale
+                                            BSMotor.InfiniteVector,     // friction timescale
+                                            1f                          // efficiency
+                );
+                _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+                _targetMotor.SetTarget(_PIDTarget);
+                _targetMotor.SetCurrent(RawPosition);
+                /*
+                _targetMotor = new BSPIDVMotor("BSPrim.PIDTarget");
+                _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
+                _targetMotor.SetTarget(_PIDTarget);
+                _targetMotor.SetCurrent(RawPosition);
+                _targetMotor.TimeScale = _PIDTau;
+                _targetMotor.Efficiency = 1f;
+                 */
+
+                RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
+                {
+                    if (!IsPhysicallyActive)
+                    {
+                        UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
+                        return;
+                    }
+
+                    OMV.Vector3 origPosition = RawPosition;     // DEBUG DEBUG (for printout below)
+
+                    // 'movePosition' is where we'd like the prim to be at this moment.
+                    OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep);
+
+                    // If we are very close to our target, turn off the movement motor.
+                    if (_targetMotor.ErrorIsZero())
+                    {
+                        DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
+                                                LocalID, movePosition, RawPosition, Mass);
+                        ForcePosition = _targetMotor.TargetValue;
+                        _targetMotor.Enabled = false;
+                    }
+                    else
+                    {
+                        ForcePosition = movePosition;
+                    }
+                    DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition);
+                });
+            }
+            else
+            {
+                // Stop any targetting
+                UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
+            }
+        }
+    }
 
     // Used for llSetHoverHeight and maybe vehicle height
     // Hover Height will override MoveTo target's Z
     public override bool PIDHoverActive {
-        set { _useHoverPID = value; }
+        set {
+            if (value)
+            {
+                // Turning the target on
+                _hoverMotor = new BSFMotor("BSPrim.Hover",
+                                            _PIDHoverTau,               // timeScale
+                                            BSMotor.Infinite,           // decay time scale
+                                            BSMotor.Infinite,           // friction timescale
+                                            1f                          // efficiency
+                );
+                _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
+                _hoverMotor.SetCurrent(RawPosition.Z);
+                _hoverMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
+                RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
+                {
+                    if (!IsPhysicallyActive)
+                        return;
+
+                    _hoverMotor.SetCurrent(RawPosition.Z);
+                    _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
+                    float targetHeight = _hoverMotor.Step(timeStep);
+
+                    // 'targetHeight' is where we'd like the Z of the prim to be at this moment.
+                    // Compute the amount of force to push us there.
+                    float moveForce = (targetHeight - RawPosition.Z) * Mass;
+                    // Undo anything the object thinks it's doing at the moment
+                    moveForce = -RawVelocity.Z * Mass;
+
+                    PhysicsScene.PE.ApplyCentralImpulse(PhysBody, new OMV.Vector3(0f, 0f, moveForce));
+                    DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", LocalID, targetHeight, moveForce, Mass);
+                });
+            }
+            else
+            {
+                UnRegisterPreStepAction("BSPrim.Hover", LocalID);
+            }
+        }
     }
     public override float PIDHoverHeight {
         set { _PIDHoverHeight = value; }
@@ -919,63 +1188,109 @@ public sealed class BSPrim : BSPhysObject
         set { _PIDHoverType = value; }
     }
     public override float PIDHoverTau {
-        set { _PIDHoverTao = value; }
+        set { _PIDHoverTau = value; }
+    }
+    // Based on current position, determine what we should be hovering at now.
+    // Must recompute often. What if we walked offa cliff>
+    private float ComputeCurrentPIDHoverHeight()
+    {
+        float ret = _PIDHoverHeight;
+        float groundHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
+
+        switch (_PIDHoverType)
+        {
+            case PIDHoverType.Ground:
+                ret = groundHeight + _PIDHoverHeight;
+                break;
+            case PIDHoverType.GroundAndWater:
+                float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
+                if (groundHeight > waterHeight)
+                {
+                    ret = groundHeight + _PIDHoverHeight;
+                }
+                else
+                {
+                    ret = waterHeight + _PIDHoverHeight;
+                }
+                break;
+        }
+        return ret;
     }
 
+
     // For RotLookAt
     public override OMV.Quaternion APIDTarget { set { return; } }
     public override bool APIDActive { set { return; } }
     public override float APIDStrength { set { return; } }
     public override float APIDDamping { set { return; } }
 
-    private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
     public override void AddForce(OMV.Vector3 force, bool pushforce) {
-        AddForce(force, pushforce, false);
+        // Per documentation, max force is limited.
+        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(addForce, pushforce, false /* inTaintTime */);
     }
+
     // Applying a force just adds this to the total force on the object.
+    // This added force will only last the next simulation tick.
     public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
         // for an object, doesn't matter if force is a pushforce or not
-        if (force.IsFinite())
-        {
-            // _force += force;
-            lock (m_accumulatedForces)
-                m_accumulatedForces.Add(new OMV.Vector3(force));
-        }
-        else
-        {
-            m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
-            return;
-        }
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
+        if (IsPhysicallyActive)
         {
-            OMV.Vector3 fSum = OMV.Vector3.Zero;
-            lock (m_accumulatedForces)
+            if (force.IsFinite())
             {
-                // Sum the accumulated additional forces for one big force to apply once.
-                foreach (OMV.Vector3 v in m_accumulatedForces)
+                // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
+
+                OMV.Vector3 addForce = force;
+                PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
                 {
-                    fSum += v;
-                }
-                m_accumulatedForces.Clear();
+                    // 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);
+                        ActivateIfPhysical(false);
+                    }
+                });
             }
-            DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
-            if (fSum != OMV.Vector3.Zero)
-                BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
-        });
+            else
+            {
+                m_log.WarnFormat("{0}: AddForce: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
+                return;
+            }
+        }
     }
 
-    // An impulse force is scaled by the mass of the object.
-    public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime)
-    {
-        OMV.Vector3 applyImpulse = impulse;
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate()
+    public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) {
+        // for an object, doesn't matter if force is a pushforce or not
+        if (!IsPhysicallyActive)
         {
-            DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
-            BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
-        });
+            if (impulse.IsFinite())
+            {
+                OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude);
+                // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
+
+                PhysicsScene.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);
+                        ActivateIfPhysical(false);
+                    }
+                });
+            }
+            else
+            {
+                m_log.WarnFormat("{0}: AddForceImpulse: Got a NaN impulse applied to a prim. LocalID={1}", LogHeader, LocalID);
+                return;
+            }
+        }
     }
 
-    private List<OMV.Vector3> m_accumulatedAngularForces = new List<OMV.Vector3>();
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
         AddAngularForce(force, pushforce, false);
     }
@@ -983,42 +1298,37 @@ public sealed class BSPrim : BSPhysObject
     {
         if (force.IsFinite())
         {
-            // _force += force;
-            lock (m_accumulatedAngularForces)
-                m_accumulatedAngularForces.Add(new OMV.Vector3(force));
+            OMV.Vector3 angForce = force;
+            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
+                {
+                    PhysicsScene.PE.ApplyTorque(PhysBody, angForce);
+                    ActivateIfPhysical(false);
+                }
+            });
         }
         else
         {
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
-        {
-            OMV.Vector3 fSum = OMV.Vector3.Zero;
-            lock (m_accumulatedAngularForces)
-            {
-                // Sum the accumulated additional forces for one big force to apply once.
-                foreach (OMV.Vector3 v in m_accumulatedAngularForces)
-                {
-                    fSum += v;
-                }
-                m_accumulatedAngularForces.Clear();
-            }
-            DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
-            if (fSum != OMV.Vector3.Zero)
-            {
-                BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
-                _torque = fSum;
-            }
-        });
     }
+
     // A torque impulse.
+    // ApplyTorqueImpulse adds torque directly to the angularVelocity.
+    // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
+    // Computed as: angularVelocity += impulse * inertia;
     public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
     {
         OMV.Vector3 applyImpulse = impulse;
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
         {
-            BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
+                ActivateIfPhysical(false);
+            }
         });
     }
 
@@ -1301,23 +1611,10 @@ public sealed class BSPrim : BSPhysObject
         profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
         volume *= (profileEnd - profileBegin);
 
-        returnMass = _density * volume;
-
-        /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
-        if (IsRootOfLinkset)
-        {
-            foreach (BSPrim prim in _childrenPrims)
-            {
-                returnMass += prim.CalculateMass();
-            }
-        }
-         */
-
-        if (returnMass <= 0)
-            returnMass = 0.0001f;
+        returnMass = Density * BSParam.DensityScaleFactor * volume;
+        DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass);
 
-        if (returnMass > PhysicsScene.MaximumObjectMass)
-            returnMass = PhysicsScene.MaximumObjectMass;
+        returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
 
         return returnMass;
     }// end CalculateMass
@@ -1326,135 +1623,74 @@ public sealed class BSPrim : BSPhysObject
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
     // Called at taint-time!!!
-    private void CreateGeomAndObject(bool forceRebuild)
+    public void CreateGeomAndObject(bool forceRebuild)
     {
-        // If this prim is part of a linkset, we must remove and restore the physical
-        //    links if the body is rebuilt.
-        bool needToRestoreLinkset = false;
-        bool needToRestoreVehicle = false;
-
         // Create the correct physical representation for this type of object.
-        // Updates PhysBody and PhysShape with the new information.
+        // Updates base.PhysBody and base.PhysShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        // Returns 'true' if either the body or the shape was changed.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
+        PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody)
         {
             // 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 handled by BSLinkset.)
-            needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
-            needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
+            // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
+            RemoveBodyDependencies();
         });
 
-        if (needToRestoreLinkset)
-        {
-            // If physical body dependencies were removed, restore them
-            Linkset.RestoreBodyDependencies(this);
-        }
-        if (needToRestoreVehicle)
-        {
-            // If physical body dependencies were removed, restore them
-            _vehicle.RestoreBodyDependencies(this);
-        }
-
         // Make sure the properties are set on the new object
         UpdatePhysicalParameters();
         return;
     }
 
-    // The physics engine says that properties have updated. Update same and inform
-    // the world that things have changed.
-    // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
-    enum UpdatedProperties {
-        Position      = 1 << 0,
-        Rotation      = 1 << 1,
-        Velocity      = 1 << 2,
-        Acceleration  = 1 << 3,
-        RotationalVel = 1 << 4
+    protected virtual void RemoveBodyDependencies()
+    {
+        VehicleController.RemoveBodyDependencies(this);
     }
 
-    const float ROTATION_TOLERANCE = 0.01f;
-    const float VELOCITY_TOLERANCE = 0.001f;
-    const float POSITION_TOLERANCE = 0.05f;
-    const float ACCELERATION_TOLERANCE = 0.01f;
-    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
-
+    // The physics engine says that properties have updated. Update same and inform
+    // the world that things have changed.
     public override void UpdateProperties(EntityProperties entprop)
     {
-        /*
-        UpdatedProperties changed = 0;
-        // assign to the local variables so the normal set action does not happen
-        // if (_position != entprop.Position)
-        if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
-        {
-            _position = entprop.Position;
-            changed |= UpdatedProperties.Position;
-        }
-        // if (_orientation != entprop.Rotation)
-        if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
-        {
-            _orientation = entprop.Rotation;
-            changed |= UpdatedProperties.Rotation;
-        }
-        // if (_velocity != entprop.Velocity)
-        if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
-        {
-            _velocity = entprop.Velocity;
-            changed |= UpdatedProperties.Velocity;
-        }
-        // if (_acceleration != entprop.Acceleration)
-        if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
-        {
-            _acceleration = entprop.Acceleration;
-            changed |= UpdatedProperties.Acceleration;
-        }
-        // if (_rotationalVelocity != entprop.RotationalVelocity)
-        if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
-        {
-            _rotationalVelocity = entprop.RotationalVelocity;
-            changed |= UpdatedProperties.RotationalVel;
-        }
-        if (changed != 0)
+        TriggerPreUpdatePropertyAction(ref entprop);
+
+        // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
+        // TODO: handle physics introduced by Bullet with computed vehicle physics.
+        if (VehicleController.IsActive)
         {
-            // Only update the position of single objects and linkset roots
-            if (Linkset.IsRoot(this))
-            {
-                base.RequestPhysicsterseUpdate();
-            }
+            entprop.RotationalVelocity = OMV.Vector3.Zero;
         }
-        */
 
-        // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
+        // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
 
-        // Updates only for individual prims and for the root object of a linkset.
-        if (Linkset.IsRoot(this))
-        {
-            // Assign directly to the local variables so the normal set action does not happen
-            _position = entprop.Position;
-            _orientation = entprop.Rotation;
+        // Assign directly to the local variables so the normal set actions do not happen
+        _position = entprop.Position;
+        _orientation = entprop.Rotation;
+        // _velocity = entprop.Velocity;
+        // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
+        //    very sensitive to velocity changes.
+        if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f))
             _velocity = entprop.Velocity;
-            _acceleration = entprop.Acceleration;
-            _rotationalVelocity = entprop.RotationalVelocity;
+        _acceleration = entprop.Acceleration;
+        _rotationalVelocity = entprop.RotationalVelocity;
 
-            // The sanity check can change the velocity and/or position.
-            if (PositionSanityCheck(true))
-            {
-                entprop.Position = _position;
-                entprop.Velocity = _velocity;
-            }
+        // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
 
-            // remember the current and last set values
-            LastEntityProperties = CurrentEntityProperties;
-            CurrentEntityProperties = entprop;
+        // The sanity check can change the velocity and/or position.
+        if (PositionSanityCheck(true /* inTaintTime */ ))
+        {
+            entprop.Position = _position;
+            entprop.Velocity = _velocity;
+            entprop.RotationalVelocity = _rotationalVelocity;
+            entprop.Acceleration = _acceleration;
+        }
 
-            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;
-            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
-                    LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
+        OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
+        DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
 
-            // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr);   // DEBUG DEBUG DEBUG
+        // remember the current and last set values
+        LastEntityProperties = CurrentEntityProperties;
+        CurrentEntityProperties = entprop;
 
-            base.RequestPhysicsterseUpdate();
-        }
+        base.RequestPhysicsterseUpdate();
             /*
         else
         {
@@ -1464,9 +1700,6 @@ public sealed class BSPrim : BSPhysObject
                     entprop.Acceleration, entprop.RotationalVelocity);
         }
              */
-
-        // The linkset implimentation might want to know about this.
-        Linkset.UpdateProperties(this);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
new file mode 100755
index 0000000..f1c3b5c
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
@@ -0,0 +1,153 @@
+/*
+ * 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.
+ *
+ * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
+ * are Copyright (c) 2009 Linden Research, Inc and are used under their license
+ * of Creative Commons Attribution-Share Alike 3.0
+ * (http://creativecommons.org/licenses/by-sa/3.0/).
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSPrimDisplaced : BSPrim
+{
+    // The purpose of this module is to do any mapping between what the simulator thinks
+    //    the prim position and orientation is and what the physical position/orientation.
+    //    This difference happens because Bullet assumes the center-of-mass is the <0,0,0>
+    //    of the prim/linkset. The simulator tracks the location of the prim/linkset by
+    //    the location of the root prim. So, if center-of-mass is anywhere but the origin
+    //    of the root prim, the physical origin is displaced from the simulator origin.
+    //
+    // This routine works by capturing the Force* setting of position/orientation/... and
+    //    adjusting the simulator values (being set) into the physical values.
+    //    The conversion is also done in the opposite direction (physical origin -> simulator origin).
+    //
+    // The updateParameter call is also captured and the values from the physics engine
+    //    are converted into simulator origin values before being passed to the base
+    //    class.
+
+    public virtual OMV.Vector3 PositionDisplacement { get; set; }
+    public virtual OMV.Quaternion OrientationDisplacement { get; set; }
+
+    public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
+                       OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
+        : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
+    {
+        ClearDisplacement();
+    }
+
+    public void ClearDisplacement()
+    {
+        PositionDisplacement = OMV.Vector3.Zero;
+        OrientationDisplacement = OMV.Quaternion.Identity;
+    }
+
+    // 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)
+    {
+        Vector3 comDisp;
+        if (UserSetCenterOfMass.HasValue)
+            comDisp = (OMV.Vector3)UserSetCenterOfMass;
+        else
+            comDisp = centerOfMassDisplacement;
+
+        if (comDisp == Vector3.Zero)
+        {
+            // If there is no diplacement. Things get reset.
+            PositionDisplacement = OMV.Vector3.Zero;
+            OrientationDisplacement = OMV.Quaternion.Identity;
+        }
+        else
+        {
+            // Remember the displacement from root as well as the origional rotation of the
+            //    new center-of-mass.
+            PositionDisplacement = comDisp;
+            OrientationDisplacement = OMV.Quaternion.Identity;
+        }
+    }
+
+    public override Vector3 ForcePosition
+    {
+        get { return base.ForcePosition; }
+        set
+        {
+            if (PositionDisplacement != OMV.Vector3.Zero)
+                base.ForcePosition = value - (PositionDisplacement * RawOrientation);
+            else
+                base.ForcePosition = value;
+        }
+    }
+
+    public override Quaternion ForceOrientation
+    {
+        get { return base.ForceOrientation; }
+        set
+        {
+            base.ForceOrientation = value;
+        }
+    }
+
+    // TODO: decide if this is the right place for these variables.
+    //     Somehow incorporate the optional settability by the user.
+    // Is this used?
+    public override OMV.Vector3 CenterOfMass
+    {
+        get { return RawPosition; }
+    }
+
+    // Is this used?
+    public override OMV.Vector3 GeometricCenter
+    {
+        get { return RawPosition; }
+    }
+
+    public override void UpdateProperties(EntityProperties entprop)
+    {
+        // Undo any center-of-mass displacement that might have been done.
+        if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity)
+        {
+            // Correct for any rotation around the center-of-mass
+            // TODO!!!
+            entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation);
+            // entprop.Rotation = something;
+        }
+
+        base.UpdateProperties(entprop);
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
new file mode 100755
index 0000000..d65d407
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -0,0 +1,182 @@
+/*
+ * 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 copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+using OpenSim.Framework;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSPrimLinkable : BSPrimDisplaced
+{
+    public BSLinkset Linkset { get; set; }
+    // The index of this child prim.
+    public int LinksetChildIndex { get; set; }
+
+    public BSLinksetInfo LinksetInfo { get; set; }
+
+    public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
+                       OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
+        : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
+    {
+        Linkset = BSLinkset.Factory(PhysicsScene, this);
+
+        PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
+        {
+            Linkset.Refresh(this);
+        });
+    }
+
+    public override void Destroy()
+    {
+        Linkset = Linkset.RemoveMeFromLinkset(this);
+        base.Destroy();
+    }
+
+    public override BSPhysicsShapeType PreferredPhysicalShape
+        { get { return Linkset.PreferredPhysicalShape(this); } }
+
+    public override void link(Manager.PhysicsActor obj)
+    {
+        BSPrimLinkable parent = obj as BSPrimLinkable;
+        if (parent != null)
+        {
+            BSPhysObject parentBefore = Linkset.LinksetRoot;
+            int childrenBefore = Linkset.NumberOfChildren;
+
+            Linkset = parent.Linkset.AddMeToLinkset(this);
+
+            DetailLog("{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
+                LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
+        }
+        return;
+    }
+
+    public override void delink()
+    {
+        // TODO: decide if this parent checking needs to happen at taint time
+        // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
+
+        BSPhysObject parentBefore = Linkset.LinksetRoot;
+        int childrenBefore = Linkset.NumberOfChildren;
+
+        Linkset = Linkset.RemoveMeFromLinkset(this);
+
+        DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
+            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
+        return;
+    }
+
+    // When simulator changes position, this might be moving a child of the linkset.
+    public override OMV.Vector3 Position
+    {
+        get { return base.Position; }
+        set
+        {
+            base.Position = value;
+            PhysicsScene.TaintedObject("BSPrimLinkset.setPosition", delegate()
+            {
+                Linkset.UpdateProperties(UpdatedProperties.Position, this);
+            });
+        }
+    }
+
+    // When simulator changes orientation, this might be moving a child of the linkset.
+    public override OMV.Quaternion Orientation
+    {
+        get { return base.Orientation; }
+        set
+        {
+            base.Orientation = value;
+            PhysicsScene.TaintedObject("BSPrimLinkset.setOrientation", delegate()
+            {
+                Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
+            });
+        }
+    }
+
+    public override float TotalMass
+    {
+        get { return Linkset.LinksetMass; }
+    }
+
+    public override void UpdatePhysicalParameters()
+    {
+        base.UpdatePhysicalParameters();
+        // Recompute any linkset parameters.
+        // When going from non-physical to physical, this re-enables the constraints that
+        //     had been automatically disabled when the mass was set to zero.
+        // For compound based linksets, this enables and disables interactions of the children.
+        if (Linkset != null)    // null can happen during initialization
+            Linkset.Refresh(this);
+    }
+
+    protected override void MakeDynamic(bool makeStatic)
+    {
+        base.MakeDynamic(makeStatic);
+        if (makeStatic)
+            Linkset.MakeStatic(this);
+        else
+            Linkset.MakeDynamic(this);
+    }
+
+    // Body is being taken apart. Remove physical dependencies and schedule a rebuild.
+    protected override void RemoveBodyDependencies()
+    {
+        Linkset.RemoveBodyDependencies(this);
+        base.RemoveBodyDependencies();
+    }
+
+    public override void UpdateProperties(EntityProperties entprop)
+    {
+        if (Linkset.IsRoot(this))
+        {
+            // Properties are only updated for the roots of a linkset.
+            // TODO: this will have to change when linksets are articulated.
+            base.UpdateProperties(entprop);
+        }
+        // The linkset might like to know about changing locations
+        Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
+    }
+
+    public override bool Collide(uint collidingWith, BSPhysObject collidee,
+                    OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    {
+        // prims in the same linkset cannot collide with each other
+        BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
+        if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
+        {
+            return false;
+        }
+        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 27a78d1..05722b8 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -26,6 +26,8 @@
  */
 using System;
 using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
 using System.Runtime.InteropServices;
 using System.Text;
 using System.Threading;
@@ -38,40 +40,22 @@ using Nini.Config;
 using log4net;
 using OpenMetaverse;
 
-// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
-// Test sculpties (verified that they don't work)
-// Compute physics FPS reasonably
-// Based on material, set density and friction
-// Don't use constraints in linksets of non-physical objects. Means having to move children manually.
-// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
-//     In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
-//     At the moment, physical and phantom causes object to drop through the terrain
-// Physical phantom objects and related typing (collision options )
-// Check out llVolumeDetect. Must do something for that.
-// Use collision masks for collision with terrain and phantom objects
-// More efficient memory usage when passing hull information from BSPrim to BulletSim
-// Should prim.link() and prim.delink() membership checking happen at taint time?
-// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once.
-// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
-// Implement LockAngularMotion
-// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
-// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
-// Add PID movement operations. What does ScenePresence.MoveToTarget do?
-// Check terrain size. 128 or 127?
-// Raycast
-//
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public sealed class BSScene : PhysicsScene, IPhysicsParameters
 {
-    private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-    private static readonly string LogHeader = "[BULLETS SCENE]";
+    internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+    internal static readonly string LogHeader = "[BULLETS SCENE]";
 
     // The name of the region we're working for.
     public string RegionName { get; private set; }
 
     public string BulletSimVersion = "?";
 
+    // The handle to the underlying managed or unmanaged version of Bullet being used.
+    public string BulletEngineName { get; private set; }
+    public BSAPITemplate PE;
+
     public Dictionary<uint, BSPhysObject> PhysObjects;
     public BSShapeCollection Shapes;
 
@@ -82,32 +66,29 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     //    every tick so OpenSim will update its animation.
     private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
 
-    // List of all the objects that have vehicle properties and should be called
-    //    to update each physics step.
-    private List<BSPhysObject> m_vehicles = new List<BSPhysObject>();
-
     // let my minuions use my logger
     public ILog Logger { get { return m_log; } }
 
     public IMesher mesher;
-    // Level of Detail values kept as float because that's what the Meshmerizer wants
-    public float MeshLOD { get; private set; }
-    public float MeshMegaPrimLOD { get; private set; }
-    public float MeshMegaPrimThreshold { get; private set; }
-    public float SculptLOD { get; private set; }
-
     public uint WorldID { get; private set; }
-    public BulletSim World { get; private set; }
+    public BulletWorld World { get; private set; }
 
     // All the constraints that have been allocated in this instance.
     public BSConstraintCollection Constraints { get; private set; }
 
     // Simulation parameters
-    private int m_maxSubSteps;
-    private float m_fixedTimeStep;
-    private long m_simulationStep = 0;
+    internal int m_maxSubSteps;
+    internal float m_fixedTimeStep;
+    internal long m_simulationStep = 0;
+    internal float NominalFrameRate { get; set; }
     public long SimulationStep { get { return m_simulationStep; } }
-    private int m_taintsToProcessPerStep;
+    internal float LastTimeStep { get; private set; }
+
+    // Physical objects can register for prestep or poststep events
+    public delegate void PreStepAction(float timeStep);
+    public delegate void PostStepAction(float timeStep);
+    public event PreStepAction BeforeStep;
+    public event PostStepAction AfterStep;
 
     // A value of the time now so all the collision and update routines do not have to get their own
     // Set to 'now' just before all the prims and actors are called for collisions and updates
@@ -121,31 +102,22 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     public bool InTaintTime { get; private set; }
 
     // Pinned memory used to pass step information between managed and unmanaged
-    private int m_maxCollisionsPerFrame;
-    private CollisionDesc[] m_collisionArray;
-    private GCHandle m_collisionArrayPinnedHandle;
+    internal int m_maxCollisionsPerFrame;
+    internal CollisionDesc[] m_collisionArray;
 
-    private int m_maxUpdatesPerFrame;
-    private EntityProperties[] m_updateArray;
-    private GCHandle m_updateArrayPinnedHandle;
-
-    public bool ShouldMeshSculptedPrim { get; private set; }   // cause scuplted prims to get meshed
-    public bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
-    public bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
-
-    public float PID_D { get; private set; }    // derivative
-    public float PID_P { get; private set; }    // proportional
+    internal int m_maxUpdatesPerFrame;
+    internal EntityProperties[] m_updateArray;
 
     public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
     public const uint GROUNDPLANE_ID = 1;
     public const uint CHILDTERRAIN_ID = 2;  // Terrain allocated based on our mega-prim childre start here
 
-    private float m_waterLevel;
+    public float SimpleWaterLevel { get; set; }
     public BSTerrainManager TerrainManager { get; private set; }
 
     public ConfigurationParameters Params
     {
-        get { return m_params[0]; }
+        get { return UnmanagedParams[0]; }
     }
     public Vector3 DefaultGravity
     {
@@ -157,8 +129,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         get { return Params.gravity; }
     }
 
-    public float MaximumObjectMass { get; private set; }
-
     // When functions in the unmanaged code must be called, it is only
     //   done at a known time just before the simulation step. The taint
     //   system saves all these function calls and executes them in
@@ -181,13 +151,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     // A pointer to an instance if this structure is passed to the C++ code
     // Used to pass basic configuration values to the unmanaged code.
-    ConfigurationParameters[] m_params;
-    GCHandle m_paramsHandle;
-
-    // Handle to the callback used by the unmanaged code to call into the managed code.
-    // Used for debug logging.
-    // Need to store the handle in a persistant variable so it won't be freed.
-    private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
+    internal ConfigurationParameters[] UnmanagedParams;
 
     // Sometimes you just have to log everything.
     public Logging.LogWriter PhysicsLogging;
@@ -195,15 +159,24 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     private string m_physicsLoggingDir;
     private string m_physicsLoggingPrefix;
     private int m_physicsLoggingFileMinutes;
+    private bool m_physicsLoggingDoFlush;
+    private bool m_physicsPhysicalDumpEnabled;
+    public float PhysicsMetricDumpFrames { get; set; }
     // 'true' of the vehicle code is to log lots of details
     public bool VehicleLoggingEnabled { get; private set; }
+    public bool VehiclePhysicalLoggingEnabled { get; private set; }
 
     #region Construction and Initialization
-    public BSScene(string identifier)
+    public BSScene(string engineType, string identifier)
     {
         m_initialized = false;
-        // we are passed the name of the region we're working for.
+
+        // The name of the region we're working for is passed to us. Keep for identification.
         RegionName = identifier;
+
+        // Set identifying variables in the PhysicsScene interface.
+        EngineType = engineType;
+        Name = EngineType + "/" + RegionName;
     }
 
     public override void Initialise(IMesher meshmerizer, IConfigSource config)
@@ -216,17 +189,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         Shapes = new BSShapeCollection(this);
 
         // Allocate pinned memory to pass parameters.
-        m_params = new ConfigurationParameters[1];
-        m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
+        UnmanagedParams = new ConfigurationParameters[1];
 
         // Set default values for physics parameters plus any overrides from the ini file
         GetInitialParameterValues(config);
 
-        // allocate more pinned memory close to the above in an attempt to get the memory all together
-        m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
-        m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
-        m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
-        m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
+        // Get the connection to the physics engine (could be native or one of many DLLs)
+        PE = SelectUnderlyingBulletEngine(BulletEngineName);
 
         // Enable very detailed logging.
         // By creating an empty logger when not logging, the log message invocation code
@@ -234,28 +203,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         if (m_physicsLoggingEnabled)
         {
             PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
+            PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
         }
         else
         {
             PhysicsLogging = new Logging.LogWriter();
         }
 
-        // If Debug logging level, enable logging from the unmanaged code
-        m_DebugLogCallbackHandle = null;
-        if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
-        {
-            m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
-            if (PhysicsLogging.Enabled)
-                // The handle is saved in a variable to make sure it doesn't get freed after this call
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
-            else
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
-        }
-
-        // Get the version of the DLL
-        // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
-        // BulletSimVersion = BulletSimAPI.GetVersion();
-        // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
+        // Allocate memory for returning of the updates and collisions from the physics engine
+        m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
+        m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
 
         // The bounding box for the simulated world. The origin is 0,0,0 unless we're
         //    a child in a mega-region.
@@ -263,18 +220,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         //    area. It tracks active objects no matter where they are.
         Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
-        // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-        World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
-                                        m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_DebugLogCallbackHandle));
+        World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
 
         Constraints = new BSConstraintCollection(World);
 
         TerrainManager = new BSTerrainManager(this);
         TerrainManager.CreateInitialGroundPlaneAndTerrain();
 
-        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)Params.linksetImplementation);
+        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
 
         InTaintTime = false;
         m_initialized = true;
@@ -285,9 +238,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     private void GetInitialParameterValues(IConfigSource config)
     {
         ConfigurationParameters parms = new ConfigurationParameters();
-        m_params[0] = parms;
+        UnmanagedParams[0] = parms;
 
-        SetParameterDefaultValues();
+        BSParam.SetParameterDefaultValues(this);
 
         if (config != null)
         {
@@ -295,19 +248,34 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             IConfig pConfig = config.Configs["BulletSim"];
             if (pConfig != null)
             {
-                SetParameterConfigurationValues(pConfig);
+                BSParam.SetParameterConfigurationValues(this, pConfig);
+
+                // There are two Bullet implementations to choose from
+                BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged");
 
                 // Very detailed logging for physics debugging
+                // TODO: the boolean values can be moved to the normal parameter processing.
                 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
                 m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
                 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
                 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
+                m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
+                m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false);
                 // Very detailed logging for vehicle debugging
                 VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
+                VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
 
                 // Do any replacements in the parameters
                 m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
             }
+
+            // The material characteristics.
+            BSMaterials.InitializeFromDefaults(Params);
+            if (pConfig != null)
+            {
+                // Let the user add new and interesting material property values.
+                BSMaterials.InitializefromParameters(pConfig);
+            }
         }
     }
 
@@ -326,16 +294,41 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         return ret;
     }
 
-    // Called directly from unmanaged code so don't do much
-    private void BulletLogger(string msg)
+    // Select the connection to the actual Bullet implementation.
+    // The main engine selection is the engineName up to the first hypen.
+    // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name
+    //     is passed to the engine to do its special selection, etc.
+    private BSAPITemplate SelectUnderlyingBulletEngine(string engineName)
     {
-        m_log.Debug("[BULLETS UNMANAGED]:" + msg);
-    }
+        // For the moment, do a simple switch statement.
+        // Someday do fancyness with looking up the interfaces in the assembly.
+        BSAPITemplate ret = null;
 
-    // Called directly from unmanaged code so don't do much
-    private void BulletLoggerPhysLog(string msg)
-    {
-        DetailLog("[BULLETS UNMANAGED]:" + msg);
+        string selectionName = engineName.ToLower();
+        int hyphenIndex = engineName.IndexOf("-");
+        if (hyphenIndex > 0)
+            selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1);
+
+        switch (selectionName)
+        {
+            case "bulletunmanaged":
+                ret = new BSAPIUnman(engineName, this);
+                break;
+            case "bulletxna":
+                ret = new BSAPIXNA(engineName, this);
+                break;
+        }
+
+        if (ret == null)
+        {
+            m_log.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader);
+        }
+        else
+        {
+            m_log.WarnFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
+        }
+
+        return ret;
     }
 
     public override void Dispose()
@@ -345,8 +338,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         // make sure no stepping happens while we're deleting stuff
         m_initialized = false;
 
-        TerrainManager.ReleaseGroundPlaneAndTerrain();
-
         foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
         {
             kvp.Value.Destroy();
@@ -366,8 +357,15 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             Shapes = null;
         }
 
+        if (TerrainManager != null)
+        {
+            TerrainManager.ReleaseGroundPlaneAndTerrain();
+            TerrainManager.Dispose();
+            TerrainManager = null;
+        }
+
         // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown2(World.ptr);
+        PE.Shutdown(World);
 
         // Not logging any more
         PhysicsLogging.Close();
@@ -389,12 +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;
     }
@@ -410,9 +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)
             {
@@ -421,13 +423,18 @@ 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)
     {
         if (!m_initialized) return;
 
-        BSPrim bsprim = prim as BSPrim;
+        BSPhysObject bsprim = prim as BSPhysObject;
         if (bsprim != null)
         {
             DetailLog("{0},RemovePrim,call", bsprim.LocalID);
@@ -456,9 +463,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         if (!m_initialized) return null;
 
-        DetailLog("{0},AddPrimShape,call", localID);
+        DetailLog("{0},BSScene.AddPrimShape,call", localID);
 
-        BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
+        BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical);
         lock (PhysObjects) PhysObjects.Add(localID, prim);
         return prim;
     }
@@ -474,41 +481,56 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // Simulate one timestep
     public override float Simulate(float timeStep)
     {
+        // prevent simulation until we've been initialized
+        if (!m_initialized) return 5.0f;
+
+        LastTimeStep = timeStep;
+
         int updatedEntityCount = 0;
-        IntPtr updatedEntitiesPtr;
         int collidersCount = 0;
-        IntPtr collidersPtr;
 
         int beforeTime = 0;
         int simTime = 0;
 
-        // prevent simulation until we've been initialized
-        if (!m_initialized) return 5.0f;
-
         // update the prim states while we know the physics engine is not busy
         int numTaints = _taintOperations.Count;
+
+        InTaintTime = true; // Only used for debugging so locking is not necessary.
+
+        ProcessTaints();
+
+        // Some of the physical objects requre individual, pre-step calls
+        //      (vehicles and avatar movement, in particular)
+        TriggerPreStepEvent(timeStep);
+
+        // the prestep actions might have added taints
+        numTaints += _taintOperations.Count;
         ProcessTaints();
 
-        // Some of the prims operate with special vehicle properties
-        ProcessVehicles(timeStep);
-        ProcessTaints();    // the vehicles might have added taints
+        InTaintTime = false; // Only used for debugging so locking is not necessary.
+
+        // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
+        // Only enable this in a limited test world with few objects.
+        if (m_physicsPhysicalDumpEnabled)
+            PE.DumpAllInfo(World);
 
         // step the physical world one interval
         m_simulationStep++;
         int numSubSteps = 0;
-
         try
         {
-            if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
-            if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
+            if (PhysicsLogging.Enabled)
+                beforeTime = Util.EnvironmentTickCount();
 
-            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
-                        out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
+            numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
 
-            if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
-            DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
-                        DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
-            if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
+            if (PhysicsLogging.Enabled)
+            {
+                simTime = Util.EnvironmentTickCountSubtract(beforeTime);
+                DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
+                                        DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
+                                        updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
+            }
         }
         catch (Exception e)
         {
@@ -520,9 +542,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             collidersCount = 0;
         }
 
-        // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
+        if ((m_simulationStep % PhysicsMetricDumpFrames) == 0)
+            PE.DumpPhysicsStatistics(World);
 
-        // Get a value for 'now' so all the collision and update routines don't have to get their own
+        // Get a value for 'now' so all the collision and update routines don't have to get their own.
         SimulationNowTime = Util.EnvironmentTickCount();
 
         // If there were collisions, process them by sending the event to the prim.
@@ -535,8 +558,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                 uint cB = m_collisionArray[ii].bID;
                 Vector3 point = m_collisionArray[ii].point;
                 Vector3 normal = m_collisionArray[ii].normal;
-                SendCollision(cA, cB, point, normal, 0.01f);
-                SendCollision(cB, cA, point, -normal, 0.01f);
+                float penetration = m_collisionArray[ii].penetration;
+                SendCollision(cA, cB, point, normal, penetration);
+                SendCollision(cB, cA, point, -normal, penetration);
             }
         }
 
@@ -562,12 +586,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         // Objects that are done colliding are removed from the ObjectsWithCollisions list.
         // Not done above because it is inside an iteration of ObjectWithCollisions.
+        // This complex collision processing is required to create an empty collision
+        //     event call after all real collisions have happened on an object. This enables
+        //     the simulator to generate the 'collision end' event.
         if (ObjectsWithNoMoreCollisions.Count > 0)
         {
             foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
                 ObjectsWithCollisions.Remove(po);
             ObjectsWithNoMoreCollisions.Clear();
         }
+        // Done with collisions.
 
         // If any of the objects had updated properties, tell the object it has been changed by the physics engine
         if (updatedEntityCount > 0)
@@ -583,17 +611,17 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
-        ProcessPostStepTaints();
+        TriggerPostStepEvent(timeStep);
 
-        // This causes the unmanaged code to output ALL the values found in ALL the objects in the world.
+        // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
         // Only enable this in a limited test world with few objects.
-        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
+        if (m_physicsPhysicalDumpEnabled)
+            PE.DumpAllInfo(World);
 
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
-        // We multiply by 55 to give a recognizable running rate (55 or less).
-        return numSubSteps * m_fixedTimeStep * 1000 * 55;
-        // return timeStep * 1000 * 55;
+        // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55).
+        return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
     }
 
     // Something has collided
@@ -639,12 +667,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     public override void SetWaterLevel(float baseheight)
     {
-        m_waterLevel = baseheight;
-    }
-    // Someday....
-    public float GetWaterLevelAtXYZ(Vector3 loc)
-    {
-        return m_waterLevel;
+        SimpleWaterLevel = baseheight;
     }
 
     public override void DeleteTerrain()
@@ -675,12 +698,35 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     public override Dictionary<uint, float> GetTopColliders()
     {
-        return new Dictionary<uint, float>();
+        Dictionary<uint, float> topColliders;
+
+        lock (PhysObjects)
+        {
+            foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
+            {
+                kvp.Value.ComputeCollisionScore();
+            }
+
+            List<BSPhysObject> orderedPrims = new List<BSPhysObject>(PhysObjects.Values);
+            orderedPrims.OrderByDescending(p => p.CollisionScore);
+            topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore);
+        }
+
+        return topColliders;
     }
 
     public override bool IsThreaded { get { return false;  } }
 
     #region Taints
+    // The simulation execution order is:
+    // Simulate()
+    //    DoOneTimeTaints
+    //    TriggerPreStepEvent
+    //    DoOneTimeTaints
+    //    Step()
+    //       ProcessAndSendToSimulatorCollisions
+    //       ProcessAndSendToSimulatorPropertyUpdates
+    //    TriggerPostStepEvent
 
     // Calls to the PhysicsActors can't directly call into the physics engine
     //       because it might be busy. We delay changes to a known time.
@@ -707,58 +753,35 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             TaintedObject(ident, callback);
     }
 
+    private void TriggerPreStepEvent(float timeStep)
+    {
+        PreStepAction actions = BeforeStep;
+        if (actions != null)
+            actions(timeStep);
+
+    }
+
+    private void TriggerPostStepEvent(float timeStep)
+    {
+        PostStepAction actions = AfterStep;
+        if (actions != null)
+            actions(timeStep);
+
+    }
+
     // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
     // a callback into itself to do the actual property change. That callback is called
     // here just before the physics engine is called to step the simulation.
     public void ProcessTaints()
     {
-        InTaintTime = true; // Only used for debugging so locking is not necessary.
         ProcessRegularTaints();
         ProcessPostTaintTaints();
-        InTaintTime = false;
     }
 
     private void ProcessRegularTaints()
     {
         if (_taintOperations.Count > 0)  // save allocating new list if there is nothing to process
         {
-            /*
-            // Code to limit the number of taints processed per step. Meant to limit step time.
-            // Unsure if a good idea as code assumes that taints are done before the step.
-            int taintCount = m_taintsToProcessPerStep;
-            TaintCallbackEntry oneCallback = new TaintCallbackEntry();
-            while (_taintOperations.Count > 0 && taintCount-- > 0)
-            {
-                bool gotOne = false;
-                lock (_taintLock)
-                {
-                    if (_taintOperations.Count > 0)
-                    {
-                        oneCallback = _taintOperations[0];
-                        _taintOperations.RemoveAt(0);
-                        gotOne = true;
-                    }
-                }
-                if (gotOne)
-                {
-                    try
-                    {
-                        DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident);
-                        oneCallback.callback();
-                    }
-                    catch (Exception e)
-                    {
-                        DetailLog("{0},BSScene.ProcessTaints,doTaintException,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
-                        m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e);
-                    }
-                }
-            }
-            if (_taintOperations.Count > 0)
-            {
-                DetailLog("{0},BSScene.ProcessTaints,leftTaintsOnList,numNotProcessed={1}", DetailLogZero, _taintOperations.Count);
-            }
-             */
-
             // swizzle a new list into the list location so we can process what's there
             List<TaintCallbackEntry> oldList;
             lock (_taintLock)
@@ -797,6 +820,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         return;
     }
 
+    // Taints that happen after the normal taint processing but before the simulation step.
     private void ProcessPostTaintTaints()
     {
         if (_postTaintOperations.Count > 0)
@@ -824,45 +848,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         }
     }
 
-    public void PostStepTaintObject(String ident, TaintCallback callback)
-    {
-        if (!m_initialized) return;
-
-        lock (_taintLock)
-        {
-            _postStepOperations.Add(new TaintCallbackEntry(ident, callback));
-        }
-
-        return;
-    }
-
-    private void ProcessPostStepTaints()
-    {
-        if (_postStepOperations.Count > 0)
-        {
-            List<TaintCallbackEntry> oldList;
-            lock (_taintLock)
-            {
-                oldList = _postStepOperations;
-                _postStepOperations = new List<TaintCallbackEntry>();
-            }
-
-            foreach (TaintCallbackEntry tcbe in oldList)
-            {
-                try
-                {
-                    DetailLog("{0},BSScene.ProcessPostStepTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
-                    tcbe.callback();
-                }
-                catch (Exception e)
-                {
-                    m_log.ErrorFormat("{0}: ProcessPostStepTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
-                }
-            }
-            oldList.Clear();
-        }
-    }
-
     // Only used for debugging. Does not change state of anything so locking is not necessary.
     public bool AssertInTaintTime(string whereFrom)
     {
@@ -870,565 +855,93 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         {
             DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
             m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
-            Util.PrintCallStack();  // Prints the stack into the DEBUG log file.
+            // Util.PrintCallStack(DetailLog);
         }
         return InTaintTime;
     }
 
     #endregion // Taints
 
-    #region Vehicles
-
-    public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType)
+    #region IPhysicsParameters
+    // Get the list of parameters this physics engine supports
+    public PhysParameterEntry[] GetParameterList()
     {
-        RemoveVehiclePrim(vehic);
-        if (newType != Vehicle.TYPE_NONE)
-        {
-           // make it so the scene will call us each tick to do vehicle things
-           AddVehiclePrim(vehic);
-        }
+        BSParam.BuildParameterTable();
+        return BSParam.SettableParameters;
     }
 
-    // Make so the scene will call this prim for vehicle actions each tick.
-    // Safe to call if prim is already in the vehicle list.
-    public void AddVehiclePrim(BSPrim vehicle)
+    // Set parameter on a specific or all instances.
+    // Return 'false' if not able to set the parameter.
+    // Setting the value in the m_params block will change the value the physics engine
+    //   will use the next time since it's pinned and shared memory.
+    // Some of the values require calling into the physics engine to get the new
+    //   value activated ('terrainFriction' for instance).
+    public bool SetPhysicsParameter(string parm, string val, uint localID)
     {
-        lock (m_vehicles)
+        bool ret = false;
+
+        float valf = 0f;
+        if (val.ToLower() == "true")
         {
-            if (!m_vehicles.Contains(vehicle))
-            {
-                m_vehicles.Add(vehicle);
-            }
+            valf = PhysParameterEntry.NUMERIC_TRUE;
         }
-    }
-
-    // Remove a prim from our list of vehicles.
-    // Safe to call if the prim is not in the vehicle list.
-    public void RemoveVehiclePrim(BSPrim vehicle)
-    {
-        lock (m_vehicles)
+        else
         {
-            if (m_vehicles.Contains(vehicle))
+            if (val.ToLower() == "false")
             {
-                m_vehicles.Remove(vehicle);
+                valf = PhysParameterEntry.NUMERIC_FALSE;
             }
-        }
-    }
-
-    // Some prims have extra vehicle actions
-    // Called at taint time!
-    private void ProcessVehicles(float timeStep)
-    {
-        foreach (BSPhysObject pobj in m_vehicles)
-        {
-            pobj.StepVehicle(timeStep);
-        }
-    }
-    #endregion Vehicles
-
-    #region INI and command line parameter processing
-
-    delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
-    delegate float ParamGet(BSScene scene);
-    delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
-    delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
-
-    private struct ParameterDefn
-    {
-        public string name;         // string name of the parameter
-        public string desc;         // a short description of what the parameter means
-        public float defaultValue;  // default value if not specified anywhere else
-        public ParamUser userParam; // get the value from the configuration file
-        public ParamGet getter;     // return the current value stored for this parameter
-        public ParamSet setter;     // set the current value for this parameter
-        public SetOnObject onObject;    // set the value on an object in the physical domain
-        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
-        {
-            name = n;
-            desc = d;
-            defaultValue = v;
-            userParam = u;
-            getter = g;
-            setter = s;
-            onObject = null;
-        }
-        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
-        {
-            name = n;
-            desc = d;
-            defaultValue = v;
-            userParam = u;
-            getter = g;
-            setter = s;
-            onObject = o;
-        }
-    }
-
-    // List of all of the externally visible parameters.
-    // For each parameter, this table maps a text name to getter and setters.
-    // To add a new externally referencable/settable parameter, add the paramter storage
-    //    location somewhere in the program and make an entry in this table with the
-    //    getters and setters.
-    // It is easiest to find an existing definition and copy it.
-    // Parameter values are floats. Booleans are converted to a floating value.
-    //
-    // A ParameterDefn() takes the following parameters:
-    //    -- the text name of the parameter. This is used for console input and ini file.
-    //    -- a short text description of the parameter. This shows up in the console listing.
-    //    -- a delegate for fetching the parameter from the ini file.
-    //          Should handle fetching the right type from the ini file and converting it.
-    //    -- a delegate for getting the value as a float
-    //    -- a delegate for setting the value from a float
-    //
-    // The single letter parameters for the delegates are:
-    //    s = BSScene
-    //    o = BSPhysObject
-    //    p = string parameter name
-    //    l = localID of referenced object
-    //    v = float value
-    //    cf = parameter configuration class (for fetching values from ini file)
-    private ParameterDefn[] ParameterDefinitions =
-    {
-        new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.ShouldMeshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); },
-            (s) => { return s.NumericBool(s.ShouldMeshSculptedPrim); },
-            (s,p,l,v) => { s.ShouldMeshSculptedPrim = s.BoolNumeric(v); } ),
-        new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
-            (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
-            (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
-        new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
-            (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
-            (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),
-
-        new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
-            8f,
-            (s,cf,p,v) => { s.MeshLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return s.MeshLOD; },
-            (s,p,l,v) => { s.MeshLOD = v; } ),
-        new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
-            16f,
-            (s,cf,p,v) => { s.MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return s.MeshMegaPrimLOD; },
-            (s,p,l,v) => { s.MeshMegaPrimLOD = v; } ),
-        new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
-            10f,
-            (s,cf,p,v) => { s.MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
-            (s) => { return s.MeshMegaPrimThreshold; },
-            (s,p,l,v) => { s.MeshMegaPrimThreshold = v; } ),
-        new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
-            32f,
-            (s,cf,p,v) => { s.SculptLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return s.SculptLOD; },
-            (s,p,l,v) => { s.SculptLOD = v; } ),
-
-        new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
-            10f,
-            (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxSubSteps; },
-            (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
-        new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
-            1f / 60f,
-            (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
-            (s) => { return (float)s.m_fixedTimeStep; },
-            (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
-        new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
-            2048f,
-            (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxCollisionsPerFrame; },
-            (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
-        new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
-            8000f,
-            (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxUpdatesPerFrame; },
-            (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
-        new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
-            500f,
-            (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_taintsToProcessPerStep; },
-            (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
-        new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
-            10000.01f,
-            (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); },
-            (s) => { return (float)s.MaximumObjectMass; },
-            (s,p,l,v) => { s.MaximumObjectMass = v; } ),
-
-        new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
-            2200f,
-            (s,cf,p,v) => { s.PID_D = cf.GetFloat(p, v); },
-            (s) => { return (float)s.PID_D; },
-            (s,p,l,v) => { s.PID_D = v; } ),
-        new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
-            900f,
-            (s,cf,p,v) => { s.PID_P = cf.GetFloat(p, v); },
-            (s) => { return (float)s.PID_P; },
-            (s,p,l,v) => { s.PID_P = v; } ),
-
-        new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
-            0.5f,
-            (s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].defaultFriction; },
-            (s,p,l,v) => { s.m_params[0].defaultFriction = v; } ),
-        new ParameterDefn("DefaultDensity", "Density for new objects" ,
-            10.000006836f,  // Aluminum g/cm3
-            (s,cf,p,v) => { s.m_params[0].defaultDensity = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].defaultDensity; },
-            (s,p,l,v) => { s.m_params[0].defaultDensity = v; } ),
-        new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
-            0f,
-            (s,cf,p,v) => { s.m_params[0].defaultRestitution = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].defaultRestitution; },
-            (s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ),
-        new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].collisionMargin; },
-            (s,p,l,v) => { s.m_params[0].collisionMargin = v; } ),
-        new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
-            -9.80665f,
-            (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].gravity; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, p, PhysParameterEntry.APPLY_TO_NONE, v); },
-            (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
-
-
-        new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linearDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, s.m_params[0].angularDamping); } ),
-        new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].angularDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, s.m_params[0].linearDamping, v); } ),
-        new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
-            0.2f,
-            (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].deactivationTime; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
-        new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
-            0.8f,
-            (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linearSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
-        new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
-            1.0f,
-            (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].angularSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
-        new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
-            0f,     // set to zero to disable
-            (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].ccdMotionThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
-        new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
-            0f,
-            (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].ccdSweptSphereRadius; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
-        new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
-            0.1f,
-            (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].contactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
-
-            new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
-            (float)BSTerrainPhys.TerrainImplementation.Mesh,
-            (s,cf,p,v) => { s.m_params[0].terrainImplementation = cf.GetFloat(p,v); },
-            (s) => { return s.m_params[0].terrainImplementation; },
-            (s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ),
-        new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
-            0.5f,
-            (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].terrainFriction; },
-            (s,p,l,v) => { s.m_params[0].terrainFriction = v;  /* TODO: set on real terrain */} ),
-        new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
-            0.8f,
-            (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].terrainHitFraction; },
-            (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; /* TODO: set on real terrain */ } ),
-        new ParameterDefn("TerrainRestitution", "Bouncyness" ,
-            0f,
-            (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].terrainRestitution; },
-            (s,p,l,v) => { s.m_params[0].terrainRestitution = v;  /* TODO: set on real terrain */ } ),
-        new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
-            0.2f,
-            (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarFriction; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
-        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
-            10f,
-            (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarStandingFriction; },
-            (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
-        new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
-            60f,
-            (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarDensity; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarDensity, p, l, v); } ),
-        new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarRestitution; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
-            0.6f,
-            (s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarCapsuleWidth; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
-            0.45f,
-            (s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarCapsuleDepth; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
-            1.5f,
-            (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarCapsuleHeight; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ),
-            new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
-            0.1f,
-            (s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarContactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
-
-
-            new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; },
-            (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ),
-            new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; },
-            (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ),
-            new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; },
-            (s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ),
-            new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.m_params[0].shouldForceUpdateAllAabbs = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].shouldForceUpdateAllAabbs; },
-            (s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ),
-            new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].shouldRandomizeSolverOrder; },
-            (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ),
-            new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].shouldSplitSimulationIslands; },
-            (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ),
-            new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.m_params[0].shouldEnableFrictionCaching = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].shouldEnableFrictionCaching; },
-            (s,p,l,v) => { s.m_params[0].shouldEnableFrictionCaching = v; } ),
-            new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
-            0f,     // zero says use Bullet default
-            (s,cf,p,v) => { s.m_params[0].numberOfSolverIterations = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].numberOfSolverIterations; },
-            (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ),
-
-            new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
-            (float)BSLinkset.LinksetImplementation.Compound,
-            (s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); },
-            (s) => { return s.m_params[0].linksetImplementation; },
-            (s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ),
-            new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].linkConstraintUseFrameOffset; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ),
-            new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintEnableTransMotor = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-            (s) => { return s.m_params[0].linkConstraintEnableTransMotor; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintEnableTransMotor = v; } ),
-            new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
-            5.0f,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linkConstraintTransMotorMaxVel; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = v; } ),
-            new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
-            0.1f,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
-            new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
-            0.1f,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linkConstraintCFM; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
-            new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
-            0.1f,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linkConstraintERP; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
-            new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
-            40,
-            (s,cf,p,v) => { s.m_params[0].linkConstraintSolverIterations = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].linkConstraintSolverIterations; },
-            (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
-
-        new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
-            0f,
-            (s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_params[0].physicsLoggingFrames; },
-            (s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ),
-    };
-
-    // Convert a boolean to our numeric true and false values
-    public float NumericBool(bool b)
-    {
-        return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
-    }
-
-    // Convert numeric true and false values to a boolean
-    public bool BoolNumeric(float b)
-    {
-        return (b == ConfigurationParameters.numericTrue ? true : false);
-    }
-
-    // Search through the parameter definitions and return the matching
-    //    ParameterDefn structure.
-    // Case does not matter as names are compared after converting to lower case.
-    // Returns 'false' if the parameter is not found.
-    private bool TryGetParameter(string paramName, out ParameterDefn defn)
-    {
-        bool ret = false;
-        ParameterDefn foundDefn = new ParameterDefn();
-        string pName = paramName.ToLower();
-
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            if (pName == parm.name.ToLower())
+            else
             {
-                foundDefn = parm;
-                ret = true;
-                break;
+                try
+                {
+                    valf = float.Parse(val);
+                }
+                catch
+                {
+                    valf = 0f;
+                }
             }
         }
-        defn = foundDefn;
-        return ret;
-    }
-
-    // Pass through the settable parameters and set the default values
-    private void SetParameterDefaultValues()
-    {
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            parm.setter(this, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
-        }
-    }
 
-    // Get user set values out of the ini file.
-    private void SetParameterConfigurationValues(IConfig cfg)
-    {
-        foreach (ParameterDefn parm in ParameterDefinitions)
+        BSParam.ParameterDefn theParam;
+        if (BSParam.TryGetParameter(parm, out theParam))
         {
-            parm.userParam(this, cfg, parm.name, parm.defaultValue);
-        }
-    }
+            // Set the value in the C# code
+            theParam.setter(this, parm, localID, valf);
 
-    private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
-
-    // This creates an array in the correct format for returning the list of
-    //    parameters. This is used by the 'list' option of the 'physics' command.
-    private void BuildParameterTable()
-    {
-        if (SettableParameters.Length < ParameterDefinitions.Length)
-        {
-            List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
-            for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
+            // Optionally set the parameter in the unmanaged code
+            if (theParam.onObject != null)
             {
-                ParameterDefn pd = ParameterDefinitions[ii];
-                entries.Add(new PhysParameterEntry(pd.name, pd.desc));
+                // update all the localIDs specified
+                // If the local ID is APPLY_TO_NONE, just change the default value
+                // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
+                // If the localID is a specific object, apply the parameter change to only that object
+                List<uint> objectIDs = new List<uint>();
+                switch (localID)
+                {
+                    case PhysParameterEntry.APPLY_TO_NONE:
+                        // This will cause a call into the physical world if some operation is specified (SetOnObject).
+                        objectIDs.Add(TERRAIN_ID);
+                        TaintedUpdateParameter(parm, objectIDs, valf);
+                        break;
+                    case PhysParameterEntry.APPLY_TO_ALL:
+                        lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
+                        TaintedUpdateParameter(parm, objectIDs, valf);
+                        break;
+                    default:
+                        // setting only one localID
+                        objectIDs.Add(localID);
+                        TaintedUpdateParameter(parm, objectIDs, valf);
+                        break;
+                }
             }
 
-            // make the list in alphabetical order for estetic reasons
-            entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
-            {
-                return ppe1.name.CompareTo(ppe2.name);
-            });
-
-            SettableParameters = entries.ToArray();
-        }
-    }
-
-
-    #region IPhysicsParameters
-    // Get the list of parameters this physics engine supports
-    public PhysParameterEntry[] GetParameterList()
-    {
-        BuildParameterTable();
-        return SettableParameters;
-    }
-
-    // Set parameter on a specific or all instances.
-    // Return 'false' if not able to set the parameter.
-    // Setting the value in the m_params block will change the value the physics engine
-    //   will use the next time since it's pinned and shared memory.
-    // Some of the values require calling into the physics engine to get the new
-    //   value activated ('terrainFriction' for instance).
-    public bool SetPhysicsParameter(string parm, float val, uint localID)
-    {
-        bool ret = false;
-        ParameterDefn theParam;
-        if (TryGetParameter(parm, out theParam))
-        {
-            theParam.setter(this, parm, localID, val);
             ret = true;
         }
         return ret;
     }
 
-    // update all the localIDs specified
-    // If the local ID is APPLY_TO_NONE, just change the default value
-    // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
-    // If the localID is a specific object, apply the parameter change to only that object
-    private void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
-    {
-        List<uint> objectIDs = new List<uint>();
-        switch (localID)
-        {
-            case PhysParameterEntry.APPLY_TO_NONE:
-                defaultLoc = val;   // setting only the default value
-                // This will cause a call into the physical world if some operation is specified (SetOnObject).
-                objectIDs.Add(TERRAIN_ID);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-            case PhysParameterEntry.APPLY_TO_ALL:
-                defaultLoc = val;  // setting ALL also sets the default value
-                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-            default:
-                // setting only one localID
-                objectIDs.Add(localID);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-        }
-    }
-
     // schedule the actual updating of the paramter to when the phys engine is not busy
     private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
     {
@@ -1436,16 +949,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         List<uint> xlIDs = lIDs;
         string xparm = parm;
         TaintedObject("BSScene.UpdateParameterSet", delegate() {
-            ParameterDefn thisParam;
-            if (TryGetParameter(xparm, out thisParam))
+            BSParam.ParameterDefn thisParam;
+            if (BSParam.TryGetParameter(xparm, out thisParam))
             {
                 if (thisParam.onObject != null)
                 {
                     foreach (uint lID in xlIDs)
                     {
                         BSPhysObject theObject = null;
-                        PhysObjects.TryGetValue(lID, out theObject);
-                        thisParam.onObject(this, theObject, xval);
+                        if (PhysObjects.TryGetValue(lID, out theObject))
+                            thisParam.onObject(this, theObject, xval);
                     }
                 }
             }
@@ -1454,14 +967,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     // Get parameter.
     // Return 'false' if not able to get the parameter.
-    public bool GetPhysicsParameter(string parm, out float value)
+    public bool GetPhysicsParameter(string parm, out string value)
     {
-        float val = 0f;
+        string val = String.Empty;
         bool ret = false;
-        ParameterDefn theParam;
-        if (TryGetParameter(parm, out theParam))
+        BSParam.ParameterDefn theParam;
+        if (BSParam.TryGetParameter(parm, out theParam))
         {
-            val = theParam.getter(this);
+            val = theParam.getter(this).ToString();
             ret = true;
         }
         value = val;
@@ -1470,24 +983,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     #endregion IPhysicsParameters
 
-    #endregion Runtime settable parameters
-
-    // Debugging routine for dumping detailed physical information for vehicle prims
-    private void DumpVehicles()
-    {
-        foreach (BSPrim prim in m_vehicles)
-        {
-            BulletSimAPI.DumpRigidBody2(World.ptr, prim.PhysBody.ptr);
-            BulletSimAPI.DumpCollisionShape2(World.ptr, prim.PhysShape.ptr);
-        }
-    }
-
     // Invoke the detailed logger and output something if it's enabled.
     public void DetailLog(string msg, params Object[] args)
     {
         PhysicsLogging.Write(msg, args);
         // Add the Flush() if debugging crashes. Gets all the messages written out.
-        // PhysicsLogging.Flush();
+        if (m_physicsLoggingDoFlush) PhysicsLogging.Flush();
     }
     // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
     public const string DetailLogZero = "0000000000";
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 892c34b..096b300 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -45,7 +45,7 @@ public sealed class BSShapeCollection : IDisposable
     // Description of a Mesh
     private struct MeshDesc
     {
-        public IntPtr ptr;
+        public BulletShape shape;
         public int referenceCount;
         public DateTime lastReferenced;
         public UInt64 shapeKey;
@@ -55,7 +55,7 @@ public sealed class BSShapeCollection : IDisposable
     // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
     private struct HullDesc
     {
-        public IntPtr ptr;
+        public BulletShape shape;
         public int referenceCount;
         public DateTime lastReferenced;
         public UInt64 shapeKey;
@@ -65,9 +65,16 @@ public sealed class BSShapeCollection : IDisposable
     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;
+        // 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
+        //     statements can be commented/removed.
+        DDetail = true;
     }
 
     public void Dispose()
@@ -91,7 +98,7 @@ public sealed class BSShapeCollection : IDisposable
     //    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, BulletSim sim, BSPhysObject prim,
+    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim,
                     ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
     {
         PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
@@ -109,8 +116,7 @@ public sealed class BSShapeCollection : IDisposable
             //    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,
-                                    prim.PhysShape, bodyCallback);
+            bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, bodyCallback);
             ret = newGeom || newBody;
         }
         DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
@@ -119,51 +125,52 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
+    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.
-    public void ReferenceBody(BulletBody body, bool inTaintTime)
+    private void ReferenceBody(BulletBody body)
     {
         lock (m_collectionActivityLock)
         {
-            DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
-            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
+            if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
+            if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
             {
-                if (!BulletSimAPI.IsInWorld2(body.ptr))
-                {
-                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
-                    DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, 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.
-    public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
+    // Called in taint time.
+    public void DereferenceBody(BulletBody body, BodyDestructionCallback bodyCallback )
     {
-        if (body.ptr == IntPtr.Zero)
+        if (!body.HasPhysicalBody)
             return;
 
+        PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody");
+
         lock (m_collectionActivityLock)
         {
-            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
-            {
-                DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
-                                            body.ID, body, inTaintTime);
-                // If the caller needs to know the old body is going away, pass the event up.
-                if (bodyCallback != null) bodyCallback(body);
+            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);
 
-                if (BulletSimAPI.IsInWorld2(body.ptr))
-                {
-                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
-                    DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
-                }
+            if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
+            {
+                PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
+                if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
+            }
 
-                // Zero any reference to the shape so it is not freed when the body is deleted.
-                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
-            });
+            // 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);
         }
     }
 
@@ -184,17 +191,17 @@ public sealed class BSShapeCollection : IDisposable
                 {
                     // There is an existing instance of this mesh.
                     meshDesc.referenceCount++;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
+                    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.ptr = shape.ptr;
+                    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;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
                     ret = true;
                 }
@@ -207,16 +214,16 @@ public sealed class BSShapeCollection : IDisposable
                 {
                     // There is an existing instance of this hull.
                     hullDesc.referenceCount++;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
+                    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.ptr = shape.ptr;
+                    hullDesc.shape = shape.Clone();
                     hullDesc.shapeKey = shape.shapeKey;
                     hullDesc.referenceCount = 1;
-                    DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
+                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
                     ret = true;
 
@@ -234,44 +241,43 @@ public sealed class BSShapeCollection : IDisposable
     }
 
     // Release the usage of a shape.
-    public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
+    public void DereferenceShape(BulletShape shape, ShapeDestructionCallback shapeCallback)
     {
-        if (shape.ptr == IntPtr.Zero)
+        if (!shape.HasPhysicalShape)
             return;
 
-        PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
+        PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceShape");
+
+        if (shape.HasPhysicalShape)
         {
-            if (shape.ptr != IntPtr.Zero)
+            if (shape.isNativeShape)
             {
-                if (shape.isNativeShape)
-                {
-                    // Native shapes are not tracked and are released immediately
-                    DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
-                                    BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
-                    if (shapeCallback != null) shapeCallback(shape);
-                    BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
-                }
-                else
+                // 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)
                 {
-                    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;
-                    }
+                    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
@@ -286,7 +292,7 @@ public sealed class BSShapeCollection : IDisposable
             if (shapeCallback != null) shapeCallback(shape);
             meshDesc.lastReferenced = System.DateTime.Now;
             Meshes[shape.shapeKey] = meshDesc;
-            DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
                                 BSScene.DetailLogZero, shape, meshDesc.referenceCount);
 
         }
@@ -307,7 +313,7 @@ public sealed class BSShapeCollection : IDisposable
 
             hullDesc.lastReferenced = System.DateTime.Now;
             Hulls[shape.shapeKey] = hullDesc;
-            DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
                     BSScene.DetailLogZero, shape, hullDesc.referenceCount);
         }
     }
@@ -320,57 +326,56 @@ public sealed class BSShapeCollection : IDisposable
     // Called at taint-time.
     private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
     {
-        if (!BulletSimAPI.IsCompound2(shape.ptr))
+        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.ptr.ToString("X"));
-            DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
-                                        BSScene.DetailLogZero, shape.type, shape.ptr.ToString("X"));
+                                        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 = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr);
-        DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
+        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--)
         {
-            IntPtr childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii);
+            BulletShape childShape = PhysicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(shape, ii);
             DereferenceAnonCollisionShape(childShape);
         }
-        BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+        PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
     }
 
     // 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(IntPtr cShape)
+    private void DereferenceAnonCollisionShape(BulletShape shapeInfo)
     {
         MeshDesc meshDesc;
         HullDesc hullDesc;
 
-        BulletShape shapeInfo = new BulletShape(cShape);
-        if (TryGetMeshByPtr(cShape, out meshDesc))
+        if (TryGetMeshByPtr(shapeInfo, out meshDesc))
         {
             shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
             shapeInfo.shapeKey = meshDesc.shapeKey;
         }
         else
         {
-            if (TryGetHullByPtr(cShape, out hullDesc))
+            if (TryGetHullByPtr(shapeInfo, out hullDesc))
             {
                 shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL;
                 shapeInfo.shapeKey = hullDesc.shapeKey;
             }
             else
             {
-                if (BulletSimAPI.IsCompound2(cShape))
+                if (PhysicsScene.PE.IsCompound(shapeInfo))
                 {
                     shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND;
                 }
                 else
                 {
-                    if (BulletSimAPI.IsNativeShape2(cShape))
+                    if (PhysicsScene.PE.IsNativeShape(shapeInfo))
                     {
                         shapeInfo.isNativeShape = true;
                         shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
@@ -379,16 +384,16 @@ public sealed class BSShapeCollection : IDisposable
             }
         }
 
-        DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
+        if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
 
         if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
         {
-            DereferenceShape(shapeInfo, true, null);
+            DereferenceShape(shapeInfo, null);
         }
         else
         {
             PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
-                                    LogHeader, PhysicsScene.RegionName, cShape.ToString("X"));
+                                    LogHeader, PhysicsScene.RegionName, shapeInfo.AddrString);
         }
     }
 
@@ -408,19 +413,18 @@ public sealed class BSShapeCollection : IDisposable
         if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
         {
             // an avatar capsule is close to a native shape (it is not shared)
-            ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE,
-                            FixedShapeKey.KEY_CAPSULE, shapeCallback);
-            DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
+            GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback);
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
             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 already been created.
+        // 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);
-            DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
             haveShape = true;
         }
 
@@ -432,8 +436,9 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
-    private bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    // 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;
@@ -443,8 +448,9 @@ public sealed class BSShapeCollection : IDisposable
         // If the prim attributes are simple, this could be a simple Bullet native shape
         if (!haveShape
                 && pbs != null
+                && !pbs.SculptEntry
                 && nativeShapePossible
-                && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
+                && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim)
                     || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
                         && pbs.ProfileHollow == 0
                         && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
@@ -453,35 +459,43 @@ public sealed class BSShapeCollection : IDisposable
                         && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
                         && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
         {
-            // It doesn't look like Bullet scales spheres so make sure the scales are all equal
+            // 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);
+
+            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);
+
+            // 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)
                                 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
             {
                 haveShape = true;
                 if (forceRebuild
-                        || prim.Scale != prim.Size
+                        || prim.Scale != scaleOfExistingShape
                         || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE
                         )
                 {
                     ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
                                             FixedShapeKey.KEY_SPHERE, shapeCallback);
-                    DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.PhysShape);
                 }
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},rebuilt={2},shape={3}",
+                                        prim.LocalID, forceRebuild, ret, prim.PhysShape);
             }
             if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
             {
                 haveShape = true;
                 if (forceRebuild
-                        || prim.Scale != prim.Size
+                        || prim.Scale != scaleOfExistingShape
                         || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX
                         )
                 {
                     ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX,
                                             FixedShapeKey.KEY_BOX, shapeCallback);
-                    DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.PhysShape);
                 }
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},rebuilt={2},shape={3}",
+                                        prim.LocalID, forceRebuild, ret, prim.PhysShape);
             }
         }
 
@@ -494,23 +508,24 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
+    // return 'true' if the prim's shape was changed.
     public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
 
         bool ret = false;
         // Note that if it's a native shape, the check for physical/non-physical is not
         //     made. Native shapes work in either case.
-        if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
+        if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects)
         {
             // Update prim.BSShape to reference a hull of this shape.
             ret = GetReferenceToHull(prim,shapeCallback);
-            DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
+            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);
-            DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
                                     prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
         }
         return ret;
@@ -523,14 +538,15 @@ public sealed class BSShapeCollection : IDisposable
                             ShapeDestructionCallback shapeCallback)
     {
         // release any previous shape
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, shapeCallback);
 
         BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
 
         // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
-        DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
+        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;
     }
@@ -550,20 +566,17 @@ public sealed class BSShapeCollection : IDisposable
 
         if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
         {
-            // The proper scale has been calculated in the prim.
-            newShape = new BulletShape(
-                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
-                        , shapeType);
-            DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
+
+            newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale);
+            if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
         }
         else
         {
             // Native shapes are scaled in Bullet so set the scaling to the size
-            prim.Scale = prim.Size;
-            nativeShapeData.Scale = prim.Scale;
-            newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
+            newShape = PhysicsScene.PE.BuildNativeShape(PhysicsScene.World, nativeShapeData);
+
         }
-        if (newShape.ptr == IntPtr.Zero)
+        if (!newShape.HasPhysicalShape)
         {
             PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
                                     LogHeader, prim.LocalID, shapeType);
@@ -580,7 +593,7 @@ public sealed class BSShapeCollection : IDisposable
     // Called at taint-time!
     private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
-        BulletShape newShape = new BulletShape(IntPtr.Zero);
+        BulletShape newShape = new BulletShape();
 
         float lod;
         System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
@@ -589,62 +602,96 @@ public sealed class BSShapeCollection : IDisposable
         if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH)
             return false;
 
-        DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}",
-                                prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
+        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, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, shapeCallback);
 
-        newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
+        newShape = CreatePhysicalMesh(prim, newMeshKey, prim.BaseShape, prim.Size, lod);
         // Take evasive action if the mesh was not constructed.
         newShape = VerifyMeshCreated(newShape, prim);
 
         ReferenceShape(newShape);
 
-        // meshes are already scaled by the meshmerizer
-        prim.Scale = new OMV.Vector3(1f, 1f, 1f);
         prim.PhysShape = newShape;
 
         return true;        // 'true' means a new shape has been added to this prim
     }
 
-    private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
+    private BulletShape CreatePhysicalMesh(BSPhysObject prim, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
-        IMesh meshData = null;
-        IntPtr meshPtr = IntPtr.Zero;
+        BulletShape newShape = new BulletShape();
+
         MeshDesc meshDesc;
         if (Meshes.TryGetValue(newMeshKey, out meshDesc))
         {
             // If the mesh has already been built just use it.
-            meshPtr = meshDesc.ptr;
+            newShape = meshDesc.shape.Clone();
         }
         else
         {
-            // Pass false for physicalness as this creates some sort of bounding box which we don't need
-            meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
+            IMesh meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, 
+                                        true,
+                                        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
+                                        false   // It's NOT for ODE
+                                        );
 
             if (meshData != null)
             {
+
                 int[] indices = meshData.getIndexListAsInt();
-                List<OMV.Vector3> vertices = meshData.getVertexList();
+                int realIndicesIndex = indices.Length;
+                float[] verticesAsFloats = meshData.getVertexListAsFloat();
 
-                float[] verticesAsFloats = new float[vertices.Count * 3];
-                int vi = 0;
-                foreach (OMV.Vector3 vv in vertices)
+                if (BSParam.ShouldRemoveZeroWidthTriangles)
                 {
-                    verticesAsFloats[vi++] = vv.X;
-                    verticesAsFloats[vi++] = vv.Y;
-                    verticesAsFloats[vi++] = vv.Z;
+                    // 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);
 
-                // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
-                //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
-
-                meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
-                                    indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
+                if (realIndicesIndex != 0)
+                {
+                    newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World,
+                                        realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats);
+                }
+                else
+                {
+                    PhysicsScene.Logger.ErrorFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}",
+                                        LogHeader, prim.PhysObjectName, prim.RawPosition, PhysicsScene.Name);
+                }
             }
         }
-        BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH);
         newShape.shapeKey = newMeshKey;
 
         return newShape;
@@ -663,19 +710,17 @@ public sealed class BSShapeCollection : IDisposable
         if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL)
             return false;
 
-        DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
+        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, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, shapeCallback);
 
         newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
         newShape = VerifyMeshCreated(newShape, prim);
 
         ReferenceShape(newShape);
 
-        // hulls are already scaled by the meshmerizer
-        prim.Scale = new OMV.Vector3(1f, 1f, 1f);
         prim.PhysShape = newShape;
         return true;        // 'true' means a new shape has been added to this prim
     }
@@ -684,18 +729,20 @@ public sealed class BSShapeCollection : IDisposable
     private BulletShape CreatePhysicalHull(string objName, 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 is created, just use it.
-            hullPtr = hullDesc.ptr;
+            newShape = hullDesc.shape.Clone();
         }
         else
         {
             // Build a new hull in the physical world
-            // Pass false for physicalness as this creates some sort of bounding box which we don't need
-            IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
+            // Pass true for physicalness as this creates some sort of bounding box which we don't need
+            IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false, false, false);
             if (meshData != null)
             {
 
@@ -777,14 +824,13 @@ public sealed class BSShapeCollection : IDisposable
                     }
                 }
                 // create the hull data structure in Bullet
-                hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
+                newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
             }
         }
 
-        BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
         newShape.shapeKey = newHullKey;
 
-        return newShape;        // 'true' means a new shape has been added to this prim
+        return newShape;
     }
 
     // Callback from convex hull creater with a newly created hull.
@@ -803,13 +849,12 @@ public sealed class BSShapeCollection : IDisposable
         // 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 = new BulletShape(
-            BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND);
+        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);
-        BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity);
-        DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
+        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;
@@ -822,14 +867,19 @@ public sealed class BSShapeCollection : IDisposable
     private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
     {
         // level of detail based on size and type of the object
-        float lod = PhysicsScene.MeshLOD;
+        float lod = BSParam.MeshLOD;
+
+        // prims with curvy internal cuts need higher lod
+        if (pbs.HollowShape == HollowShape.Circle)
+            lod = BSParam.MeshCircularLOD;
+
         if (pbs.SculptEntry)
-            lod = PhysicsScene.SculptLOD;
+            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 > PhysicsScene.MeshMegaPrimThreshold)
-            lod = PhysicsScene.MeshMegaPrimLOD;
+        if (maxAxis > BSParam.MeshMegaPrimThreshold)
+            lod = BSParam.MeshMegaPrimLOD;
 
         retLod = lod;
         return pbs.GetMeshKey(size, lod);
@@ -851,16 +901,17 @@ public sealed class BSShapeCollection : IDisposable
     private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
     {
         // If the shape was successfully created, nothing more to do
-        if (newShape.ptr != IntPtr.Zero)
+        if (newShape.HasPhysicalShape)
             return newShape;
 
         // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
         if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero)
         {
+            DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lastFailed={1}", prim.LocalID, prim.LastAssetBuildFailed);
+            // This will prevent looping through this code as we keep trying to get the failed shape
             prim.LastAssetBuildFailed = true;
+
             BSPhysObject xprim = prim;
-            DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
-                            LogHeader, prim.LocalID, prim.LastAssetBuildFailed);
             Util.FireAndForget(delegate
                 {
                     RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
@@ -869,19 +920,34 @@ public sealed class BSShapeCollection : IDisposable
                         BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
                         assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
                         {
-                            if (!yprim.BaseShape.SculptEntry)
-                                return;
-                            if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
-                                return;
-
-                            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);
+                            bool assetFound = false;            // DEBUG DEBUG
+                            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;
+                                }
+                            }
+                            DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
+                                        yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs );
 
                         });
                     }
+                    else
+                    {
+                        PhysicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
+                                                    LogHeader, PhysicsScene.Name);
+                    }
                 });
         }
         else
@@ -893,9 +959,9 @@ public sealed class BSShapeCollection : IDisposable
             }
         }
 
-        // While we figure out the real problem, stick a simple native shape on the object.
-        BulletShape fillinShape =
-            BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
+        // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
+        BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
+        DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID);
 
         return fillinShape;
     }
@@ -904,49 +970,45 @@ public sealed class BSShapeCollection : IDisposable
     // 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, BulletSim sim, BulletShape shape,
-                            BodyDestructionCallback bodyCallback)
+    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BodyDestructionCallback bodyCallback)
     {
         bool ret = false;
 
         // the mesh, hull or native shape must have already been created in Bullet
-        bool mustRebuild = (prim.PhysBody.ptr == IntPtr.Zero);
+        bool mustRebuild = !prim.PhysBody.HasPhysicalBody;
 
         // If there is an existing body, verify it's of an acceptable type.
         // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
         if (!mustRebuild)
         {
-            CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr);
+            CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(prim.PhysBody);
             if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
                 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
             {
                 // If the collisionObject is not the correct type for solidness, rebuild what's there
                 mustRebuild = true;
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,forceRebuildBecauseChangingBodyType,bodyType={1}", prim.LocalID, bodyType);
             }
         }
 
         if (mustRebuild || forceRebuild)
         {
             // Free any old body
-            DereferenceBody(prim.PhysBody, true, bodyCallback);
+            DereferenceBody(prim.PhysBody, bodyCallback);
 
             BulletBody aBody;
-            IntPtr bodyPtr = IntPtr.Zero;
             if (prim.IsSolid)
             {
-                bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
-                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+                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);
             }
             else
             {
-                bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
-                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
-                DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+                aBody = PhysicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
             }
-            aBody = new BulletBody(prim.LocalID, bodyPtr);
 
-            ReferenceBody(aBody, true);
+            ReferenceBody(aBody);
 
             prim.PhysBody = aBody;
 
@@ -956,13 +1018,13 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    private bool TryGetMeshByPtr(IntPtr addr, out MeshDesc outDesc)
+    private bool TryGetMeshByPtr(BulletShape shape, out MeshDesc outDesc)
     {
         bool ret = false;
         MeshDesc foundDesc = new MeshDesc();
         foreach (MeshDesc md in Meshes.Values)
         {
-            if (md.ptr == addr)
+            if (md.shape.ReferenceSame(shape))
             {
                 foundDesc = md;
                 ret = true;
@@ -974,13 +1036,13 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    private bool TryGetHullByPtr(IntPtr addr, out HullDesc outDesc)
+    private bool TryGetHullByPtr(BulletShape shape, out HullDesc outDesc)
     {
         bool ret = false;
         HullDesc foundDesc = new HullDesc();
         foreach (HullDesc hd in Hulls.Values)
         {
-            if (hd.ptr == addr)
+            if (hd.shape.ReferenceSame(shape))
             {
                 foundDesc = hd;
                 ret = true;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index 96cd55e..ee18379 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -27,24 +27,19 @@
 
 using System;
 using System.Collections.Generic;
-using System.Linq;
 using System.Text;
 
+using OMV = OpenMetaverse;
+
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public abstract class BSShape
 {
-    public IntPtr ptr { get; set; }
-    public BSPhysicsShapeType type { get; set; }
-    public System.UInt64 key { get; set; }
     public int referenceCount { get; set; }
     public DateTime lastReferenced { get; set; }
 
     public BSShape()
     {
-        ptr = IntPtr.Zero;
-        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
-        key = 0;
         referenceCount = 0;
         lastReferenced = DateTime.Now;
     }
@@ -63,7 +58,7 @@ public abstract class BSShape
         }
 
         // 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 already been created.
+        // 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
@@ -71,6 +66,14 @@ public abstract class BSShape
             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);
 
@@ -91,15 +94,17 @@ public abstract class BSShape
     // All shapes have a static call to get a reference to the physical shape
     // protected abstract static BSShape GetReference();
 
+    // Returns a string for debugging that uniquily identifies the memory used by this instance
+    public virtual string AddrString
+    {
+        get { return "unknown"; }
+    }
+
     public override string ToString()
     {
         StringBuilder buff = new StringBuilder();
         buff.Append("<p=");
-        buff.Append(ptr.ToString("X"));
-        buff.Append(",s=");
-        buff.Append(type.ToString());
-        buff.Append(",k=");
-        buff.Append(key.ToString("X"));
+        buff.Append(AddrString);
         buff.Append(",c=");
         buff.Append(referenceCount.ToString());
         buff.Append(">");
@@ -126,7 +131,8 @@ public class BSShapeNative : BSShape
                     BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) 
     {
         // Native shapes are not shared and are always built anew.
-        return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
+        //return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
+        return null;
     }
 
     private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
@@ -141,14 +147,15 @@ public class BSShapeNative : BSShape
         nativeShapeData.HullKey = (ulong)shapeKey;
 
        
+        /*
         if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
         {
-            ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
+            ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
             physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
         }
         else
         {
-            ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
+            ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
         }
         if (ptr == IntPtr.Zero)
         {
@@ -157,15 +164,18 @@ public class BSShapeNative : BSShape
         }
         type = shapeType;
         key = (UInt64)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
         physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
-        BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
+        PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this);
         ptr = IntPtr.Zero;
         // Garbage collection will free up this instance.
+         */
     }
 }
 
@@ -205,4 +215,143 @@ public class BSShapeCompound : BSShape
     }
     public override void Dereference(BSScene physicsScene) { }
 }
+
+public class BSShapeAvatar : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE AVATAR]";
+    public BSShapeAvatar() : base()
+    {
+    }
+    public static BSShape GetReference(BSPhysObject prim) 
+    { 
+        return new BSShapeNull();
+    }
+    public override void Dereference(BSScene physicsScene) { }
+
+    // From the front:
+    //     A---A
+    //    /     \
+    //   B-------B
+    //  /         \        +Z
+    // C-----------C        |
+    // \           /   -Y --+-- +Y
+    //  \         /         |
+    //   \       /         -Z
+    //    D-----D
+    //     \   /
+    //      E-E
+
+    // From the top A and E are just lines.
+    //              B, C and D are hexagons:
+    //
+    //     C1--C2            +X
+    //    /      \            |
+    //  C0        C3     -Y --+-- +Y
+    //    \      /            |
+    //     C5--C4            -X
+
+    // Zero goes directly through the middle so the offsets are from that middle axis
+    //     and up and down from a middle horizon (A and E are the same distance from the zero).
+    // The height, width and depth is one. All scaling is done by the simulator.
+
+    // Z component -- how far the level is from the middle zero
+    private const float Aup = 0.5f;
+    private const float Bup = 0.4f;
+    private const float Cup = 0.3f;
+    private const float Dup = -0.4f;
+    private const float Eup = -0.5f;
+
+    // Y component -- distance from center to x0 and x3
+    private const float Awid = 0.25f;
+    private const float Bwid = 0.3f;
+    private const float Cwid = 0.5f;
+    private const float Dwid = 0.3f;
+    private const float Ewid = 0.2f;
+
+    // Y component -- distance from center to x1, x2, x4 and x5
+    private const float Afwid = 0.0f;
+    private const float Bfwid = 0.2f;
+    private const float Cfwid = 0.4f;
+    private const float Dfwid = 0.2f;
+    private const float Efwid = 0.0f;
+
+    // X component -- distance from zero to the front or back of a level
+    private const float Adep = 0f;
+    private const float Bdep = 0.3f;
+    private const float Cdep = 0.5f;
+    private const float Ddep = 0.2f;
+    private const float Edep = 0f;
+
+    private OMV.Vector3[] avatarVertices = {
+           new OMV.Vector3( 0.0f, -Awid,  Aup),   // A0
+           new OMV.Vector3( 0.0f, +Awid,  Aup),   // A3
+
+           new OMV.Vector3( 0.0f, -Bwid,  Bup),   // B0
+           new OMV.Vector3(+Bdep, -Bfwid, Bup),   // B1
+           new OMV.Vector3(+Bdep, +Bfwid, Bup),   // B2
+           new OMV.Vector3( 0.0f, +Bwid,  Bup),   // B3
+           new OMV.Vector3(-Bdep, +Bfwid, Bup),   // B4
+           new OMV.Vector3(-Bdep, -Bfwid, Bup),   // B5
+
+           new OMV.Vector3( 0.0f, -Cwid,  Cup),   // C0
+           new OMV.Vector3(+Cdep, -Cfwid, Cup),   // C1
+           new OMV.Vector3(+Cdep, +Cfwid, Cup),   // C2
+           new OMV.Vector3( 0.0f, +Cwid,  Cup),   // C3
+           new OMV.Vector3(-Cdep, +Cfwid, Cup),   // C4
+           new OMV.Vector3(-Cdep, -Cfwid, Cup),   // C5
+
+           new OMV.Vector3( 0.0f, -Dwid,  Dup),   // D0
+           new OMV.Vector3(+Ddep, -Dfwid, Dup),   // D1
+           new OMV.Vector3(+Ddep, +Dfwid, Dup),   // D2
+           new OMV.Vector3( 0.0f, +Dwid,  Dup),   // D3
+           new OMV.Vector3(-Ddep, +Dfwid, Dup),   // D4
+           new OMV.Vector3(-Ddep, -Dfwid, Dup),   // D5
+
+           new OMV.Vector3( 0.0f, -Ewid,  Eup),   // E0
+           new OMV.Vector3( 0.0f, +Ewid,  Eup),   // E3
+    };
+
+    // Offsets of the vertices in the vertices array
+    private enum Ind : int
+    {
+        A0, A3,
+        B0, B1, B2, B3, B4, B5,
+        C0, C1, C2, C3, C4, C5,
+        D0, D1, D2, D3, D4, D5,
+        E0, E3
+    }
+
+    // Comments specify trianges and quads in clockwise direction
+    private Ind[] avatarIndices = {
+        Ind.A0, Ind.B0, Ind.B1,                         // A0,B0,B1
+        Ind.A0, Ind.B1, Ind.B2, Ind.B2, Ind.A3, Ind.A0, // A0,B1,B2,A3
+        Ind.A3, Ind.B2, Ind.B3,                         // A3,B2,B3
+        Ind.A3, Ind.B3, Ind.B4,                         // A3,B3,B4
+        Ind.A3, Ind.B4, Ind.B5, Ind.B5, Ind.A0, Ind.A3, // A3,B4,B5,A0
+        Ind.A0, Ind.B5, Ind.B0,                         // A0,B5,B0
+
+        Ind.B0, Ind.C0, Ind.C1, Ind.C1, Ind.B1, Ind.B0, // B0,C0,C1,B1
+        Ind.B1, Ind.C1, Ind.C2, Ind.C2, Ind.B2, Ind.B1, // B1,C1,C2,B2
+        Ind.B2, Ind.C2, Ind.C3, Ind.C3, Ind.B3, Ind.B2, // B2,C2,C3,B3
+        Ind.B3, Ind.C3, Ind.C4, Ind.C4, Ind.B4, Ind.B3, // B3,C3,C4,B4
+        Ind.B4, Ind.C4, Ind.C5, Ind.C5, Ind.B5, Ind.B4, // B4,C4,C5,B5
+        Ind.B5, Ind.C5, Ind.C0, Ind.C0, Ind.B0, Ind.B5, // B5,C5,C0,B0
+
+        Ind.C0, Ind.D0, Ind.D1, Ind.D1, Ind.C1, Ind.C0, // C0,D0,D1,C1
+        Ind.C1, Ind.D1, Ind.D2, Ind.D2, Ind.C2, Ind.C1, // C1,D1,D2,C2
+        Ind.C2, Ind.D2, Ind.D3, Ind.D3, Ind.C3, Ind.C2, // C2,D2,D3,C3
+        Ind.C3, Ind.D3, Ind.D4, Ind.D4, Ind.C4, Ind.C3, // C3,D3,D4,C4
+        Ind.C4, Ind.D4, Ind.D5, Ind.D5, Ind.C5, Ind.C4, // C4,D4,D5,C5
+        Ind.C5, Ind.D5, Ind.D0, Ind.D0, Ind.C0, Ind.C5, // C5,D5,D0,C0
+
+        Ind.E0, Ind.D0, Ind.D1,                         // E0,D0,D1
+        Ind.E0, Ind.D1, Ind.D2, Ind.D2, Ind.E3, Ind.E0, // E0,D1,D2,E3
+        Ind.E3, Ind.D2, Ind.D3,                         // E3,D2,D3
+        Ind.E3, Ind.D3, Ind.D4,                         // E3,D3,D4
+        Ind.E3, Ind.D4, Ind.D5, Ind.D5, Ind.E0, Ind.E3, // E3,D4,D5,E0
+        Ind.E0, Ind.D5, Ind.D0,                         // E0,D5,D0
+
+    };
+
+}
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 3ca756c..e4fecc3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -44,7 +44,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
 {
     static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
 
-    BulletHeightMapInfo m_mapInfo = null;
+    BulletHMapInfo m_mapInfo = null;
 
     // Constructor to build a default, flat heightmap terrain.
     public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
@@ -58,7 +58,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         {
             initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
         }
-        m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
+        m_mapInfo = new BulletHMapInfo(id, initialMap);
         m_mapInfo.minCoords = minTerrainCoords;
         m_mapInfo.maxCoords = maxTerrainCoords;
         m_mapInfo.terrainRegionBase = TerrainBase;
@@ -72,7 +72,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
                                                     Vector3 minCoords, Vector3 maxCoords)
         : base(physicsScene, regionBase, id)
     {
-        m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
+        m_mapInfo = new BulletHMapInfo(id, initialMap);
         m_mapInfo.minCoords = minCoords;
         m_mapInfo.maxCoords = maxCoords;
         m_mapInfo.minZ = minCoords.Z;
@@ -91,13 +91,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     // Using the information in m_mapInfo, create the physical representation of the heightmap.
     private void BuildHeightmapTerrain()
     {
-        m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
-                                m_mapInfo.minCoords, m_mapInfo.maxCoords, 
-                                m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN);
-
         // Create the terrain shape from the mapInfo
-        m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
-                                                    BSPhysicsShapeType.SHAPE_TERRAIN);
+        m_mapInfo.terrainShape = 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);
+
 
         // The terrain object initial position is at the center of the object
         Vector3 centerPos;
@@ -105,28 +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 = new BulletBody(m_mapInfo.ID,
-                BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
-                                            m_mapInfo.ID, centerPos, Quaternion.Identity));
+        m_mapInfo.terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, 
+                                m_mapInfo.ID, centerPos, Quaternion.Identity);
 
         // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
-        BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
-        BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+        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);
 
         // Return the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_mapInfo.terrainBody);
 
         // redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody);
 
-        BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr,
-                            (uint)CollisionFilterGroups.TerrainFilter,
-                            (uint)CollisionFilterGroups.TerrainMask);
+        m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
+        m_mapInfo.terrainBody.ApplyCollisionMask(PhysicsScene);
 
         // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION);
 
         return;
     }
@@ -136,19 +132,18 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     {
         if (m_mapInfo != null)
         {
-            if (m_mapInfo.terrainBody.ptr != IntPtr.Zero)
+            if (m_mapInfo.terrainBody.HasPhysicalBody)
             {
-                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+                PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody);
                 // Frees both the body and the shape.
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
-                BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
+                PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody);
             }
         }
         m_mapInfo = null;
     }
 
     // The passed position is relative to the base of the region.
-    public override float GetHeightAtXYZ(Vector3 pos)
+    public override float GetTerrainHeightAtXYZ(Vector3 pos)
     {
         float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
 
@@ -166,5 +161,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         }
         return ret;
     }
+
+    // The passed position is relative to the base of the region.
+    public override float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        return PhysicsScene.SimpleWaterLevel;
+    }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 23fcfd3..2e9db39 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -62,11 +62,12 @@ public abstract class BSTerrainPhys : IDisposable
         ID = id;
     }
     public abstract void Dispose();
-    public abstract float GetHeightAtXYZ(Vector3 pos);
+    public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
+    public abstract float GetWaterLevelAtXYZ(Vector3 pos);
 }
 
 // ==========================================================================================
-public sealed class BSTerrainManager
+public sealed class BSTerrainManager : IDisposable
 {
     static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
 
@@ -75,13 +76,12 @@ public sealed class BSTerrainManager
     public const float HEIGHT_INITIALIZATION = 24.987f;
     public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
     public const float HEIGHT_GETHEIGHT_RET = 24.765f;
+    public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f;
 
     // If the min and max height are equal, we reduce the min by this
     //    amount to make sure that a bounding box is built for the terrain.
     public const float HEIGHT_EQUAL_FUDGE = 0.2f;
 
-    public const float TERRAIN_COLLISION_MARGIN = 0.0f;
-
     // Until the whole simulator is changed to pass us the region size, we rely on constants.
     public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
@@ -122,25 +122,28 @@ public sealed class BSTerrainManager
         MegaRegionParentPhysicsScene = null;
     }
 
+    public void Dispose()
+    {
+        ReleaseGroundPlaneAndTerrain();
+    }
+
     // Create the initial instance of terrain and the underlying ground plane.
     // This is called from the initialization routine so we presume it is
     //    safe to call Bullet in real time. We hope no one is moving prims around yet.
     public void CreateInitialGroundPlaneAndTerrain()
     {
         // The ground plane is here to catch things that are trying to drop to negative infinity
-        BulletShape groundPlaneShape = new BulletShape(
-                    BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN),
-                    BSPhysicsShapeType.SHAPE_GROUNDPLANE);
-        m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
-                        BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
-                                                            Vector3.Zero, Quaternion.Identity));
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+        BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
+        m_groundPlane = 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);
         // Ground plane does not move
-        BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
         // Everything collides with the ground plane.
-        BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
-                        (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
+        m_groundPlane.collisionType = CollisionType.Groundplane;
+        m_groundPlane.ApplyCollisionMask(PhysicsScene);
 
         // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
         BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
@@ -150,13 +153,13 @@ public sealed class BSTerrainManager
     // Release all the terrain structures we might have allocated
     public void ReleaseGroundPlaneAndTerrain()
     {
-        if (m_groundPlane.ptr != IntPtr.Zero)
+        if (m_groundPlane.HasPhysicalBody)
         {
-            if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
+            if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane))
             {
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+                PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane);
             }
-            m_groundPlane.ptr = IntPtr.Zero;
+            m_groundPlane.Clear();
         }
 
         ReleaseTerrain();
@@ -165,17 +168,22 @@ public sealed class BSTerrainManager
     // Release all the terrain we have allocated
     public void ReleaseTerrain()
     {
-        foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
+        lock (m_terrains)
         {
-            kvp.Value.Dispose();
+            foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
+            {
+                kvp.Value.Dispose();
+            }
+            m_terrains.Clear();
         }
-        m_terrains.Clear();
     }
 
     // The simulator wants to set a new heightmap for the terrain.
     public void SetTerrain(float[] heightMap) {
         float[] localHeightMap = heightMap;
-        PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
+        // 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()
         {
             if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
             {
@@ -211,6 +219,7 @@ public sealed class BSTerrainManager
     //     terrain shape is created and added to the body.
     //     This call is most often used to update the heightMap and parameters of the terrain.
     // (The above does suggest that some simplification/refactoring is in order.)
+    // Called during taint-time.
     private void UpdateTerrain(uint id, float[] heightMap, 
                             Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
     {
@@ -220,7 +229,7 @@ public sealed class BSTerrainManager
         // Find high and low points of passed heightmap.
         // The min and max passed in is usually the area objects can be in (maximum
         //     object height, for instance). The terrain wants the bounding box for the
-        //     terrain so we replace passed min and max Z with the actual terrain min/max Z.
+        //     terrain so replace passed min and max Z with the actual terrain min/max Z.
         float minZ = float.MaxValue;
         float maxZ = float.MinValue;
         foreach (float height in heightMap)
@@ -238,15 +247,15 @@ public sealed class BSTerrainManager
 
         Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
 
-        BSTerrainPhys terrainPhys;
-        if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
+        lock (m_terrains)
         {
-            // There is already a terrain in this spot. Free the old and build the new.
-            DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
-                            BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
-
-            PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:UpdateExisting", delegate()
+            BSTerrainPhys terrainPhys;
+            if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
             {
+                // There is already a terrain in this spot. Free the old and build the new.
+                DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
+                                BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
+
                 // Remove old terrain from the collection
                 m_terrains.Remove(terrainRegionBase);
                 // Release any physical memory it may be using.
@@ -271,35 +280,24 @@ public sealed class BSTerrainManager
                     // I hate doing this, but just bail
                     return;
                 }
-            });
-        }
-        else
-        {
-            // We don't know about this terrain so either we are creating a new terrain or
-            //    our mega-prim child is giving us a new terrain to add to the phys world
-
-            // if this is a child terrain, calculate a unique terrain id
-            uint newTerrainID = id;
-            if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
-                newTerrainID = ++m_terrainCount;
-
-            float[] heightMapX = heightMap;
-            Vector3 minCoordsX = minCoords;
-            Vector3 maxCoordsX = maxCoords;
+            }
+            else
+            {
+                // We don't know about this terrain so either we are creating a new terrain or
+                //    our mega-prim child is giving us a new terrain to add to the phys world
 
-            DetailLog("{0},UpdateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}",
-                            BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
+                // if this is a child terrain, calculate a unique terrain id
+                uint newTerrainID = id;
+                if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
+                    newTerrainID = ++m_terrainCount;
 
-            // Code that must happen at taint-time
-            PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:NewTerrain", delegate()
-            {
-                DetailLog("{0},UpdateTerrain:NewTerrain,taint,baseX={1},baseY={2}", 
-                                            BSScene.DetailLogZero, minCoordsX.X, minCoordsX.Y);
+                DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
+                                            BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
                 BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
                 m_terrains.Add(terrainRegionBase, newTerrainPhys);
 
                 m_terrainModified = true;
-            });
+            }
         }
     }
 
@@ -308,9 +306,9 @@ public sealed class BSTerrainManager
     {
         PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", 
                                             LogHeader, PhysicsScene.RegionName, terrainRegionBase, 
-                                            (BSTerrainPhys.TerrainImplementation)PhysicsScene.Params.terrainImplementation);
+                                            (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
         BSTerrainPhys newTerrainPhys = null;
-        switch ((int)PhysicsScene.Params.terrainImplementation)
+        switch ((int)BSParam.TerrainImplementation)
         {
             case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
                 newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
@@ -323,14 +321,21 @@ public sealed class BSTerrainManager
             default:
                 PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
                                             LogHeader, 
-                                            (int)PhysicsScene.Params.terrainImplementation, 
-                                            PhysicsScene.Params.terrainImplementation,
+                                            (int)BSParam.TerrainImplementation, 
+                                            BSParam.TerrainImplementation,
                                             PhysicsScene.RegionName, terrainRegionBase);
                 break;
         }
         return newTerrainPhys;
     }
 
+    // Return 'true' of this position is somewhere in known physical terrain space
+    public bool IsWithinKnownTerrain(Vector3 pos)
+    {
+        Vector3 terrainBaseXYZ;
+        BSTerrainPhys physTerrain;
+        return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ);
+    }
 
     // Given an X and Y, find the height of the terrain.
     // Since we could be handling multiple terrains for a mega-region,
@@ -341,40 +346,74 @@ public sealed class BSTerrainManager
     private float lastHeightTX = 999999f;
     private float lastHeightTY = 999999f;
     private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
-    public float GetTerrainHeightAtXYZ(Vector3 loc)
+    public float GetTerrainHeightAtXYZ(Vector3 pos)
     {
-        float tX = loc.X;
-        float tY = loc.Y;
+        float tX = pos.X;
+        float tY = pos.Y;
         // You'd be surprized at the number of times this routine is called
         //    with the same parameters as last time.
-        if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY)
+        if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY))
             return lastHeight;
+        m_terrainModified = false;
 
         lastHeightTX = tX;
         lastHeightTY = tY;
         float ret = HEIGHT_GETHEIGHT_RET;
 
-        int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
-        int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
-        Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
-
+        Vector3 terrainBaseXYZ;
         BSTerrainPhys physTerrain;
-        if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain))
+        if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
         {
-            ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ);
-            DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,loc={1},base={2},height={3}",
-                                             BSScene.DetailLogZero, loc, terrainBaseXYZ, ret);
+            ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ);
         }
         else
         {
             PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
                     LogHeader, PhysicsScene.RegionName, tX, tY);
+            DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
+                                BSScene.DetailLogZero, pos, terrainBaseXYZ);
         }
-        m_terrainModified = false;
+
         lastHeight = ret;
         return ret;
     }
 
+    public float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        float ret = WATER_HEIGHT_GETHEIGHT_RET;
+
+        Vector3 terrainBaseXYZ;
+        BSTerrainPhys physTerrain;
+        if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
+        {
+            ret = physTerrain.GetWaterLevelAtXYZ(pos);
+        }
+        else
+        {
+            PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
+                    LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret);
+        }
+        return ret;
+    }
+
+    // Given an address, return 'true' of there is a description of that terrain and output
+    //    the descriptor class and the 'base' fo the addresses therein.
+    private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase)
+    {
+        int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
+        int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
+        Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
+
+        BSTerrainPhys physTerrain = null;
+        lock (m_terrains)
+        {
+            m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
+        }
+        outTerrainBase = terrainBaseXYZ;
+        outPhysTerrain = physTerrain;
+        return (physTerrain != null);
+    }
+
     // Although no one seems to check this, I do support combining.
     public bool SupportsCombining()
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index dca7150..d7e800d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -88,15 +88,15 @@ public sealed class BSTerrainMesh : BSTerrainPhys
             // Something is very messed up and a crash is in our future.
             return;
         }
+        PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", 
+                                ID, indicesCount, indices.Length, verticesCount, vertices.Length);
 
-        m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
-                                        indicesCount, indices, verticesCount, vertices),
-                                        BSPhysicsShapeType.SHAPE_MESH);
-        if (m_terrainShape.ptr == IntPtr.Zero)
+        m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices);
+        if (!m_terrainShape.HasPhysicalShape)
         {
             // DISASTER!!
             PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
-            physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
+            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;
         }
@@ -104,49 +104,56 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         Vector3 pos = regionBase;
         Quaternion rot = Quaternion.Identity;
 
-        m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot));
-        if (m_terrainBody.ptr == IntPtr.Zero)
+        m_terrainBody = 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);
+            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;
         }
 
         // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction);
-        BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
-        BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+        PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
+        PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
+        PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
+        PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
 
         // Static objects are not very massive.
-        BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
+        PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
 
-        // Return the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+        // Put the new terrain to the world of physical objects
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
 
-        // redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+        // Redo its bounding box now that it is in the world
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
 
-        BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr,
-                            (uint)CollisionFilterGroups.TerrainFilter,
-                            (uint)CollisionFilterGroups.TerrainMask);
+        m_terrainBody.collisionType = CollisionType.Terrain;
+        m_terrainBody.ApplyCollisionMask(PhysicsScene);
+
+        if (BSParam.UseSingleSidedMeshes)
+        {
+            PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial", id);
+            PhysicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
+        }
 
         // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
     }
 
     public override void Dispose()
     {
-        if (m_terrainBody.ptr != IntPtr.Zero)
+        if (m_terrainBody.HasPhysicalBody)
         {
-            BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+            PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody);
             // Frees both the body and the shape.
-            BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+            PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody);
+            m_terrainBody.Clear();
+            m_terrainShape.Clear();
         }
     }
 
-    public override float GetHeightAtXYZ(Vector3 pos)
+    public override float GetTerrainHeightAtXYZ(Vector3 pos)
     {
         // For the moment use the saved heightmap to get the terrain height.
         // TODO: raycast downward to find the true terrain below the position.
@@ -167,10 +174,15 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         return ret;
     }
 
+    // The passed position is relative to the base of the region.
+    public override float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        return PhysicsScene.SimpleWaterLevel;
+    }
+
     // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
     // Return 'true' if successfully created.
-    public static bool ConvertHeightmapToMesh(
-                                BSScene physicsScene,
+    public static bool ConvertHeightmapToMesh( BSScene physicsScene,
                                 float[] heightMap, int sizeX, int sizeY,    // parameters of incoming heightmap
                                 float extentX, float extentY,               // zero based range for output vertices
                                 Vector3 extentBase,                         // base to be added to all vertices
@@ -188,6 +200,11 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         // Simple mesh creation which assumes magnification == 1.
         // TODO: do a more general solution that scales, adds new vertices and smoothes the result.
 
+        // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop
+        //    from zero to <= sizeX). The triangle indices are then generated as two triangles
+        //    per heightmap point. There are sizeX by sizeY of these squares. The extra row and
+        //    column of vertices are used to complete the triangles of the last row and column
+        //    of the heightmap.
         try
         {
             // One vertice per heightmap value plus the vertices off the top and bottom edge.
@@ -200,16 +217,18 @@ public sealed class BSTerrainMesh : BSTerrainPhys
             float magY = (float)sizeY / extentY;
             physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}",
                                     BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY);
+            float minHeight = float.MaxValue;
             // Note that sizeX+1 vertices are created since there is land between this and the next region.
             for (int yy = 0; yy <= sizeY; yy++)
             {
-                for (int xx = 0; xx <= sizeX; xx++)     // Hint: the "<=" means we got through sizeX + 1 times
+                for (int xx = 0; xx <= sizeX; xx++)     // Hint: the "<=" means we go around sizeX + 1 times
                 {
                     int offset = yy * sizeX + xx;
-                    // Extend the height from the height from the last row or column
+                    // Extend the height with the height from the last row or column
                     if (yy == sizeY) offset -= sizeX;
                     if (xx == sizeX) offset -= 1;
                     float height = heightMap[offset];
+                    minHeight = Math.Min(minHeight, height);
                     vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
                     vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
                     vertices[verticesCount + 2] = height + extentBase.Z;
@@ -217,14 +236,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys
                 }
             }
             verticesCount = verticesCount / 3;
-            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", 
-                                            BSScene.DetailLogZero, verticesCount);
 
             for (int yy = 0; yy < sizeY; yy++)
             {
                 for (int xx = 0; xx < sizeX; xx++)
                 {
-                    int offset = yy * sizeX + xx;
+                    int offset = yy * (sizeX + 1) + xx;
                     // Each vertices is presumed to be the upper left corner of a box of two triangles
                     indices[indicesCount + 0] = offset;
                     indices[indicesCount + 1] = offset + 1;
@@ -235,8 +252,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
                     indicesCount += 6;
                 }
             }
-            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}",   // DEEBUG DEBUG DEBUG
-                                                        LogHeader, indicesCount);                        // DEBUG
+
             ret = true;
         }
         catch (Exception e)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
deleted file mode 100644
index e60a760..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ /dev/null
@@ -1,1015 +0,0 @@
-/*
- * 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 copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Runtime.InteropServices;
-using System.Security;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin {
-
-// Classes to allow some type checking for the API
-// These hold pointers to allocated objects in the unmanaged space.
-
-// The physics engine controller class created at initialization
-public struct BulletSim
-{
-    public BulletSim(uint worldId, BSScene bss, IntPtr xx)
-    {
-        ptr = xx;
-        worldID = worldId;
-        physicsScene = bss;
-    }
-    public IntPtr ptr;
-    public uint worldID;
-    // The scene is only in here so very low level routines have a handle to print debug/error messages
-    public BSScene physicsScene;
-}
-
-// An allocated Bullet btRigidBody
-public struct BulletBody
-{
-    public BulletBody(uint id, IntPtr xx)
-    {
-        ID = id;
-        ptr = xx;
-        collisionFilter = 0;
-        collisionMask = 0;
-    }
-    public IntPtr ptr;
-    public uint ID;
-    public CollisionFilterGroups collisionFilter;
-    public CollisionFilterGroups collisionMask;
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<id=");
-        buff.Append(ID.ToString());
-        buff.Append(",p=");
-        buff.Append(ptr.ToString("X"));
-        if (collisionFilter != 0 || collisionMask != 0)
-        {
-            buff.Append(",f=");
-            buff.Append(collisionFilter.ToString("X"));
-            buff.Append(",m=");
-            buff.Append(collisionMask.ToString("X"));
-        }
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-public struct BulletShape
-{
-    public BulletShape(IntPtr xx)
-    {
-        ptr = xx;
-        type=BSPhysicsShapeType.SHAPE_UNKNOWN;
-        shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
-        isNativeShape = false;
-    }
-    public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
-    {
-        ptr = xx;
-        type = typ;
-        shapeKey = 0;
-        isNativeShape = false;
-    }
-    public IntPtr ptr;
-    public BSPhysicsShapeType type;
-    public System.UInt64 shapeKey;
-    public bool isNativeShape;
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(ptr.ToString("X"));
-        buff.Append(",s=");
-        buff.Append(type.ToString());
-        buff.Append(",k=");
-        buff.Append(shapeKey.ToString("X"));
-        buff.Append(",n=");
-        buff.Append(isNativeShape.ToString());
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-    // Constraint type values as defined by Bullet
-public enum ConstraintType : int
-{
-        POINT2POINT_CONSTRAINT_TYPE = 3,
-        HINGE_CONSTRAINT_TYPE,
-        CONETWIST_CONSTRAINT_TYPE,
-        D6_CONSTRAINT_TYPE,
-        SLIDER_CONSTRAINT_TYPE,
-        CONTACT_CONSTRAINT_TYPE,
-        D6_SPRING_CONSTRAINT_TYPE,
-        MAX_CONSTRAINT_TYPE
-}
-
-// An allocated Bullet btConstraint
-public struct BulletConstraint
-{
-    public BulletConstraint(IntPtr xx)
-    {
-        ptr = xx;
-    }
-    public IntPtr ptr;
-}
-
-// An allocated HeightMapThing which holds various heightmap info.
-// Made a class rather than a struct so there would be only one
-//      instance of this and C# will pass around pointers rather
-//      than making copies.
-public class BulletHeightMapInfo
-{
-    public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
-        ID = id;
-        Ptr = xx;
-        heightMap = hm;
-        terrainRegionBase = Vector3.Zero;
-        minCoords = new Vector3(100f, 100f, 25f);
-        maxCoords = new Vector3(101f, 101f, 26f);
-        minZ = maxZ = 0f;
-        sizeX = sizeY = 256f;
-    }
-    public uint ID;
-    public IntPtr Ptr;
-    public float[] heightMap;
-    public Vector3 terrainRegionBase;
-    public Vector3 minCoords;
-    public Vector3 maxCoords;
-    public float sizeX, sizeY;
-    public float minZ, maxZ;
-    public BulletShape terrainShape;
-    public BulletBody terrainBody;
-}
-
-// ===============================================================================
-[StructLayout(LayoutKind.Sequential)]
-public struct ConvexHull
-{
-        Vector3 Offset;
-        int VertexCount;
-        Vector3[] Vertices;
-}
-public enum BSPhysicsShapeType
-{
-        SHAPE_UNKNOWN   = 0,
-        SHAPE_CAPSULE   = 1,
-        SHAPE_BOX       = 2,
-        SHAPE_CONE      = 3,
-        SHAPE_CYLINDER  = 4,
-        SHAPE_SPHERE    = 5,
-        SHAPE_MESH      = 6,
-        SHAPE_HULL      = 7,
-    // following defined by BulletSim
-        SHAPE_GROUNDPLANE  = 20,
-        SHAPE_TERRAIN   = 21,
-        SHAPE_COMPOUND  = 22,
-        SHAPE_HEIGHTMAP = 23,
-};
-
-// The native shapes have predefined shape hash keys
-public enum FixedShapeKey : ulong
-{
-    KEY_NONE        = 0,
-    KEY_BOX         = 1,
-    KEY_SPHERE      = 2,
-    KEY_CONE        = 3,
-    KEY_CYLINDER    = 4,
-    KEY_CAPSULE     = 5,
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public struct ShapeData
-{
-    public uint ID;
-    public BSPhysicsShapeType Type;
-    public Vector3 Position;
-    public Quaternion Rotation;
-    public Vector3 Velocity;
-    public Vector3 Scale;
-    public float Mass;
-    public float Buoyancy;
-    public System.UInt64 HullKey;
-    public System.UInt64 MeshKey;
-    public float Friction;
-    public float Restitution;
-    public float Collidable;    // true of things bump into this
-    public float Static;        // true if a static object. Otherwise gravity, etc.
-    public float Solid;         // true if object cannot be passed through
-    public Vector3 Size;
-
-    // note that bools are passed as floats since bool size changes by language and architecture
-    public const float numericTrue = 1f;
-    public const float numericFalse = 0f;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct SweepHit
-{
-    public uint ID;
-    public float Fraction;
-    public Vector3 Normal;
-    public Vector3 Point;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct RaycastHit
-{
-    public uint ID;
-    public float Fraction;
-    public Vector3 Normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct CollisionDesc
-{
-    public uint aID;
-    public uint bID;
-    public Vector3 point;
-    public Vector3 normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct EntityProperties
-{
-    public uint ID;
-    public Vector3 Position;
-    public Quaternion Rotation;
-    public Vector3 Velocity;
-    public Vector3 Acceleration;
-    public Vector3 RotationalVelocity;
-}
-
-// Format of this structure must match the definition in the C++ code
-[StructLayout(LayoutKind.Sequential)]
-public struct ConfigurationParameters
-{
-    public float defaultFriction;
-    public float defaultDensity;
-    public float defaultRestitution;
-    public float collisionMargin;
-    public float gravity;
-
-    public float linearDamping;
-    public float angularDamping;
-    public float deactivationTime;
-    public float linearSleepingThreshold;
-    public float angularSleepingThreshold;
-        public float ccdMotionThreshold;
-        public float ccdSweptSphereRadius;
-    public float contactProcessingThreshold;
-
-    public float terrainImplementation;
-    public float terrainFriction;
-    public float terrainHitFraction;
-    public float terrainRestitution;
-    public float avatarFriction;
-    public float avatarStandingFriction;
-    public float avatarDensity;
-    public float avatarRestitution;
-    public float avatarCapsuleWidth;
-    public float avatarCapsuleDepth;
-    public float avatarCapsuleHeight;
-        public float avatarContactProcessingThreshold;
-
-        public float maxPersistantManifoldPoolSize;
-        public float maxCollisionAlgorithmPoolSize;
-        public float shouldDisableContactPoolDynamicAllocation;
-        public float shouldForceUpdateAllAabbs;
-        public float shouldRandomizeSolverOrder;
-        public float shouldSplitSimulationIslands;
-        public float shouldEnableFrictionCaching;
-        public float numberOfSolverIterations;
-
-    public float linksetImplementation;
-    public float linkConstraintUseFrameOffset;
-    public float linkConstraintEnableTransMotor;
-    public float linkConstraintTransMotorMaxVel;
-    public float linkConstraintTransMotorMaxForce;
-    public float linkConstraintERP;
-    public float linkConstraintCFM;
-    public float linkConstraintSolverIterations;
-
-    public float physicsLoggingFrames;
-
-    public const float numericTrue = 1f;
-    public const float numericFalse = 0f;
-}
-
-
-// The states a bullet collision object can have
-public enum ActivationState : uint
-{
-    ACTIVE_TAG = 1,
-    ISLAND_SLEEPING,
-    WANTS_DEACTIVATION,
-    DISABLE_DEACTIVATION,
-    DISABLE_SIMULATION,
-}
-
-public enum CollisionObjectTypes : int
-{
-    CO_COLLISION_OBJECT             = 1 << 0,
-    CO_RIGID_BODY                   = 1 << 1,
-    CO_GHOST_OBJECT                 = 1 << 2,
-    CO_SOFT_BODY                    = 1 << 3,
-    CO_HF_FLUID                     = 1 << 4,
-    CO_USER_TYPE                    = 1 << 5,
-}
-
-// Values used by Bullet and BulletSim to control object properties.
-// Bullet's "CollisionFlags" has more to do with operations on the
-//    object (if collisions happen, if gravity effects it, ...).
-public enum CollisionFlags : uint
-{
-    CF_STATIC_OBJECT                 = 1 << 0,
-    CF_KINEMATIC_OBJECT              = 1 << 1,
-    CF_NO_CONTACT_RESPONSE           = 1 << 2,
-    CF_CUSTOM_MATERIAL_CALLBACK      = 1 << 3,
-    CF_CHARACTER_OBJECT              = 1 << 4,
-    CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
-    CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
-    // Following used by BulletSim to control collisions
-    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
-    BS_FLOATS_ON_WATER               = 1 << 11,
-    BS_NONE                          = 0,
-    BS_ALL                           = 0xFFFFFFFF,
-
-    // These are the collision flags switched depending on physical state.
-    // The other flags are used for other things and should not be fooled with.
-    BS_ACTIVE = CF_STATIC_OBJECT
-                | CF_KINEMATIC_OBJECT
-                | CF_NO_CONTACT_RESPONSE
-};
-
-// Values for collisions groups and masks
-public enum CollisionFilterGroups : uint
-{
-    // Don't use the bit definitions!!  Define the use in a
-    //   filter/mask definition below. This way collision interactions
-    //   are more easily debugged.
-    BNoneFilter              = 0,
-    BDefaultFilter           = 1 << 0,
-    BStaticFilter            = 1 << 1,
-    BKinematicFilter         = 1 << 2,
-    BDebrisFilter            = 1 << 3,
-    BSensorTrigger           = 1 << 4,
-    BCharacterFilter         = 1 << 5,
-    BAllFilter               = 0xFFFFFFFF,
-    // Filter groups defined by BulletSim
-    BGroundPlaneFilter       = 1 << 10,
-    BTerrainFilter           = 1 << 11,
-    BRaycastFilter           = 1 << 12,
-    BSolidFilter             = 1 << 13,
-    BLinksetFilter           = 1 << 14,
-
-    // The collsion filters and masked are defined in one place -- don't want them scattered
-    AvatarFilter            = BCharacterFilter,
-    AvatarMask              = BAllFilter,
-    ObjectFilter            = BSolidFilter,
-    ObjectMask              = BAllFilter,
-    StaticObjectFilter      = BStaticFilter,
-    StaticObjectMask        = BAllFilter & ~BStaticFilter,   // static objects don't collide with each other
-    LinksetFilter           = BLinksetFilter,
-    LinksetMask             = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other
-    VolumeDetectFilter      = BSensorTrigger,
-    VolumeDetectMask        = ~BSensorTrigger,
-    TerrainFilter           = BTerrainFilter,
-    TerrainMask             = BAllFilter & ~BStaticFilter,  // static objects on the ground don't collide
-    GroundPlaneFilter       = BGroundPlaneFilter,
-    GroundPlaneMask         = BAllFilter
-
-};
-
-// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
-// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
-public enum ConstraintParams : int
-{
-    BT_CONSTRAINT_ERP = 1,  // this one is not used in Bullet as of 20120730
-    BT_CONSTRAINT_STOP_ERP,
-    BT_CONSTRAINT_CFM,
-    BT_CONSTRAINT_STOP_CFM,
-};
-public enum ConstraintParamAxis : int
-{
-    AXIS_LINEAR_X = 0,
-    AXIS_LINEAR_Y,
-    AXIS_LINEAR_Z,
-    AXIS_ANGULAR_X,
-    AXIS_ANGULAR_Y,
-    AXIS_ANGULAR_Z,
-    AXIS_LINEAR_ALL = 20,    // these last three added by BulletSim so we don't have to do zillions of calls
-    AXIS_ANGULAR_ALL,
-    AXIS_ALL
-};
-
-// ===============================================================================
-static class BulletSimAPI {
-
-// Link back to the managed code for outputting log messages
-[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
-
-// ===============================================================================
-// Initialization and simulation
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
-                                                                                        int maxCollisions,  IntPtr collisionArray,
-                                                                                        int maxUpdates, IntPtr updateArray,
-                                            DebugLogCallback logRoutine);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Shutdown2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount,
-                        out IntPtr updatedEntitiesPtr,
-                        out int collidersCount,
-                        out IntPtr collidersPtr);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool PushUpdate2(IntPtr obj);
-
-// =====================================================================================
-// Mesh, hull, shape and body creation helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateMeshShape2(IntPtr world,
-                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
-                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHullShape2(IntPtr world,
-                int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNativeShape2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetBodyType2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ReleaseBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
-
-// =====================================================================================
-// Terrain creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
-
-// =====================================================================================
-// Constraint creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
-                    Vector3 frame1loc, Quaternion frame1rot,
-                    Vector3 frame2loc, Quaternion frame2rot,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
-                    Vector3 joinPoint,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
-                    Vector3 pivotinA, Vector3 pivotinB,
-                    Vector3 axisInA, Vector3 axisInB,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetFrames2(IntPtr constrain,
-                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool CalculateTransforms2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
-
-// =====================================================================================
-// btCollisionWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateAabbs2(IntPtr world);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
-
-// =====================================================================================
-// btDynamicsWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
-// =====================================================================================
-// btCollisionObject entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasAnisotripicFriction2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactProcessingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsKinematicObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasContactResponse2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetCollisionShape2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetActivationState2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetActivationState2(IntPtr obj, int state);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetDeactivationTime2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Activate2(IntPtr obj, bool forceActivation);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsActive2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetRestitution2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetRestitution2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetFriction2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetFriction2(IntPtr obj);
-
-    /* Haven't defined the type 'Transform'
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetWorldTransform2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void setWorldTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetPosition2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Quaternion GetOrientation2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetHitFraction2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHitFraction2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdMotionThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetUserPointer2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
-
-// =====================================================================================
-// btRigidBody entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyGravity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetGravity2(IntPtr obj, Vector3 val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetGravity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearDamping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularDamping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearSleepingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularSleepingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyDamping2(IntPtr obj, float timeStep);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearFactor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
-
-// Add a force to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
-
-// Set the force being applied to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalForce2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalTorque2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
-
-// Apply force at the given point. Will add torque to the object.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
-
-// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
-
-// Apply impulse to the object's torque. Force is scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
-
-// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearForces2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearAllForces2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateInertiaTensor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Translate2(IntPtr obj, Vector3 trans);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool WantsSleeping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactor2(IntPtr obj, float factor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularFactor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInWorld2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumConstraintRefs2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
-
-// =====================================================================================
-// btCollisionShape entries
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularMotionDisc2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsPolyhedral2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2d2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNonMoving2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConcave2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsCompound2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsSoftBody2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInfinite2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLocalScaling2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetShapeType2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMargin2(IntPtr shape, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetMargin2(IntPtr shape);
-
-// =====================================================================================
-// Debugging
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpAllInfo2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpPhysicsStatistics2(IntPtr sim);
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
new file mode 100755
index 0000000..8012d91
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -0,0 +1,269 @@
+/*
+ * 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 copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+// Classes to allow some type checking for the API
+// These hold pointers to allocated objects in the unmanaged space.
+// These classes are subclassed by the various physical implementations of
+// objects. In particular, there is a version for physical instances in
+// unmanaged memory ("unman") and one for in managed memory ("XNA").
+
+// Currently, the instances of these classes are a reference to a
+// physical representation and this has no releationship to other
+// instances. Someday, refarb the usage of these classes so each instance
+// refers to a particular physical instance and this class controls reference
+// counts and such. This should be done along with adding BSShapes.
+
+public class BulletWorld
+{
+    public BulletWorld(uint worldId, BSScene bss)
+    {
+        worldID = worldId;
+        physicsScene = bss;
+    }
+    public uint worldID;
+    // The scene is only in here so very low level routines have a handle to print debug/error messages
+    public BSScene physicsScene;
+}
+
+// An allocated Bullet btRigidBody
+public class BulletBody
+{
+    public BulletBody(uint id)
+    {
+        ID = id;
+        collisionType = CollisionType.Static;
+    }
+    public uint ID;
+    public CollisionType collisionType;
+
+    public virtual void Clear() { }
+    public virtual bool HasPhysicalBody { get { return false; } }
+
+    // Apply the specificed collision mask into the physical world
+    public virtual bool ApplyCollisionMask(BSScene physicsScene)
+    {
+        // Should assert the body has been added to the physical world.
+        // (The collision masks are stored in the collision proxy cache which only exists for
+        //    a collision body that is in the world.)
+        return physicsScene.PE.SetCollisionGroupMask(this,
+                                BulletSimData.CollisionTypeMasks[collisionType].group,
+                                BulletSimData.CollisionTypeMasks[collisionType].mask);
+    }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public virtual string AddrString
+    {
+        get { return "unknown"; }
+    }
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<id=");
+        buff.Append(ID.ToString());
+        buff.Append(",p=");
+        buff.Append(AddrString);
+        buff.Append(",c=");
+        buff.Append(collisionType);
+        buff.Append(">");
+        return buff.ToString();
+    }
+}
+
+public class BulletShape
+{
+    public BulletShape()
+    {
+        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
+        shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
+        isNativeShape = false;
+    }
+    public BSPhysicsShapeType type;
+    public System.UInt64 shapeKey;
+    public bool isNativeShape;
+
+    public virtual void Clear() { }
+    public virtual bool HasPhysicalShape { get { return false; } }
+
+    // Make another reference to this physical object.
+    public virtual BulletShape Clone() { return new BulletShape(); }
+
+    // Return 'true' if this and other refer to the same physical object
+    public virtual bool ReferenceSame(BulletShape xx) { return false; }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public virtual string AddrString
+    {
+        get { return "unknown"; }
+    }
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<p=");
+        buff.Append(AddrString);
+        buff.Append(",s=");
+        buff.Append(type.ToString());
+        buff.Append(",k=");
+        buff.Append(shapeKey.ToString("X"));
+        buff.Append(",n=");
+        buff.Append(isNativeShape.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
+}
+
+// An allocated Bullet btConstraint
+public class BulletConstraint
+{
+    public BulletConstraint()
+    {
+    }
+    public virtual void Clear() { }
+    public virtual bool HasPhysicalConstraint { get { return false; } }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public virtual string AddrString
+    {
+        get { return "unknown"; }
+    }
+}
+
+// An allocated HeightMapThing which holds various heightmap info.
+// Made a class rather than a struct so there would be only one
+//      instance of this and C# will pass around pointers rather
+//      than making copies.
+public class BulletHMapInfo
+{
+    public BulletHMapInfo(uint id, float[] hm) {
+        ID = id;
+        heightMap = hm;
+        terrainRegionBase = OMV.Vector3.Zero;
+        minCoords = new OMV.Vector3(100f, 100f, 25f);
+        maxCoords = new OMV.Vector3(101f, 101f, 26f);
+        minZ = maxZ = 0f;
+        sizeX = sizeY = 256f;
+    }
+    public uint ID;
+    public float[] heightMap;
+    public OMV.Vector3 terrainRegionBase;
+    public OMV.Vector3 minCoords;
+    public OMV.Vector3 maxCoords;
+    public float sizeX, sizeY;
+    public float minZ, maxZ;
+    public BulletShape terrainShape;
+    public BulletBody terrainBody;
+}
+
+// The general class of collsion object.
+public enum CollisionType
+{
+    Avatar,
+    Groundplane,
+    Terrain,
+    Static,
+    Dynamic,
+    VolumeDetect,
+    // Linkset, // A linkset should be either Static or Dynamic
+    LinksetChild,
+    Unknown
+};
+
+// Hold specification of group and mask collision flags for a CollisionType
+public struct CollisionTypeFilterGroup
+{
+    public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
+    {
+        type = t;
+        group = g;
+        mask = m;
+    }
+    public CollisionType type;
+    public uint group;
+    public uint mask;
+};
+
+public static class BulletSimData
+{
+
+// Map of collisionTypes to flags for collision groups and masks.
+// An object's 'group' is the collison groups this object belongs to
+// An object's 'filter' is the groups another object has to belong to in order to collide with me
+// A collision happens if ((obj1.group & obj2.filter) != 0) || ((obj2.group & obj1.filter) != 0)
+//
+// 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 
+            = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
+{
+    { CollisionType.Avatar, 
+                new CollisionTypeFilterGroup(CollisionType.Avatar, 
+                                (uint)CollisionFilterGroups.BCharacterGroup, 
+                                (uint)CollisionFilterGroups.BAllGroup)
+    },
+    { CollisionType.Groundplane, 
+                new CollisionTypeFilterGroup(CollisionType.Groundplane, 
+                                (uint)CollisionFilterGroups.BGroundPlaneGroup, 
+                                (uint)CollisionFilterGroups.BAllGroup)
+    },
+    { CollisionType.Terrain, 
+                new CollisionTypeFilterGroup(CollisionType.Terrain, 
+                                (uint)CollisionFilterGroups.BTerrainGroup, 
+                                (uint)(CollisionFilterGroups.BAllGroup & ~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, 
+                                (uint)(CollisionFilterGroups.BAllGroup))
+    },
+    { CollisionType.VolumeDetect, 
+                new CollisionTypeFilterGroup(CollisionType.VolumeDetect, 
+                                (uint)CollisionFilterGroups.BSensorTrigger, 
+                                (uint)(~CollisionFilterGroups.BSensorTrigger))
+    },
+    { CollisionType.LinksetChild,
+                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
new file mode 100755
index 0000000..bda7c47
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -0,0 +1,335 @@
+CURRENT PRIORITIES
+=================================================
+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.
+        Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
+Deleting a linkset while standing on the root will leave the physical shape of the root behind.
+        Not sure if it is because standing on it. Done with large prim linksets.
+Terrain detail: double terrain mesh detail
+Vehicle angular vertical attraction
+vehicle angular banking
+Center-of-gravity
+Vehicle angular deflection
+        Preferred orientation angular correction fix
+when should angular and linear motor targets be zeroed? when selected?
+        Need a vehicle.clear()? Or an 'else' in prestep if not physical.
+Teravus llMoveToTarget script debug
+        Mixing of hover, buoyancy/gravity, moveToTarget, into one force
+        Setting hover height to zero disables hover even if hover flags are on (from SL wiki)
+Nebadon vehicles turning funny in arena
+limitMotorUp calibration (more down?)
+llRotLookAt
+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)
+        avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
+Enable vehicle border crossings (at least as poorly as ODE)
+        Terrain skirts
+        Avatar created in previous region and not new region when crossing border
+        Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
+Vehicle script tuning/debugging
+        Avanti speed script
+        Weapon shooter script
+Add material densities to the material types
+
+VEHICLES TODO LIST:
+=================================================
+Border crossing with linked vehicle causes crash
+        20121129.1411: editting/moving phys object across region boundries causes crash
+            getPos-> btRigidBody::upcast -> getBodyType -> BOOM
+Vehicles (Move smoothly)
+Some vehicles should not be able to turn if no speed or off ground.
+What to do if vehicle and prim buoyancy differ?
+Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
+Neb car jiggling left and right
+        Happens on terrain and any other mesh object. Flat cubes are much smoother.
+        This has been reduced but not eliminated.
+Implement referenceFrame for all the motion routines.
+For limitMotorUp, use raycast down to find if vehicle is in the air.
+Verify llGetVel() is returning a smooth and good value for vehicle movement.
+llGetVel() should return the root's velocity if requested in a child prim.
+Implement function efficiency for lineaar and angular motion.
+After getting off a vehicle, the root prim is phantom (can be walked through)
+    Need to force a position update for the root prim after compound shape destruction
+Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
+Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
+        A kludge that isn't fixing the real problem of Bullet adding extra motion.
+Incorporate inter-relationship of angular corrections. For instance, angularDeflection
+        and angularMotorUp will compute same X or Y correction. When added together
+        creates over-correction and over-shoot and wabbling.
+Vehicle attributes are not restored when a vehicle is rezzed on region creation
+        Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized.
+
+GENERAL TODO LIST:
+=================================================
+Level-of-detail for mesh creation. Prims with circular interiors require lod of 32.
+        Is much saved with lower LODs? At the moment, all set to 32.
+Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't.
+        If arrow show at prim, collision reported about 1/3 of time. If collision reported,
+        both arrow and prim report it. The arrow bounces off the prim 9 out of 10 times.
+        Shooting 5m sphere "arrows" at 60m/s.
+llMoveToTarget objects are not effected by gravity until target is removed.
+Compute CCD parameters based on body size
+Can solver iterations be changed per body/shape? Can be for constraints but what
+        about regular vehicles?
+Implement llSetPhysicalMaterial.
+        extend it with Center-of-mass, rolling friction, density
+Implement llSetForceAndTorque.
+Change BSPrim.moveToTarget to used forces rather than changing position
+        Changing position allows one to move through walls
+Implement an avatar mesh shape. The Bullet capsule is way too limited.
+        Consider just hand creating a vertex/index array in a new BSShapeAvatar.
+Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain.
+Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
+Duplicating a physical prim causes old prim to jump away
+        Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
+Scenes with hundred of thousands of static objects take a lot of physics CPU time.
+BSPrim.Force should set a continious force on the prim. The force should be
+        applied each tick.  Some limits?
+Gun sending shooter flying.
+Collision margin (gap between physical objects lying on each other)
+Boundry checking (crashes related to crossing boundry)
+    Add check for border edge position for avatars and objects.
+    Verify the events are created for border crossings.
+Avatar rotation (check out changes to ScenePresence for physical rotation)
+Avatar running (what does phys engine need to do?)
+Small physical objects do not interact correctly
+    Create chain of .5x.5x.1 torui and make all but top physical so to hang.
+        The chain will fall apart and pairs will dance around on ground
+    Chains of 1x1x.2 will stay connected but will dance.
+    Chains above 2x2x.4 are more stable and get stablier as torui get larger.
+Add PID motor for avatar movement (slow to stop, ...)
+setForce should set a constant force. Different than AddImpulse.
+Implement raycast.
+Implement ShapeCollection.Dispose()
+Implement water as a plain so raycasting and collisions can happen with same.
+Add collision penetration return
+        Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance()
+Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
+        Also osGetPhysicsEngineVerion() maybe.
+Linkset.Position and Linkset.Orientation requre rewrite to properly return
+        child position. LinksetConstraint acts like it's at taint time!!
+Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F)
+Should the different PID factors have non-equal contributions for different
+        values of Efficiency?
+Selecting and deselecting physical objects causes CPU processing time to jump
+        http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1
+        put thousand physical objects, select and deselect same. CPU time will be large.
+Re-implement buoyancy as a separate force on the object rather than diddling gravity.
+        Register a pre-step event to add the force.
+More efficient memory usage when passing hull information from BSPrim to BulletSim
+Avatar movement motor check for zero or small movement. Somehow suppress small movements
+        when avatar has stopped and is just standing. Simple test for near zero has
+        the problem of preventing starting up (increase from zero) especially when falling.
+Physical and phantom will drop through the terrain
+
+
+LINKSETS
+======================================================
+Child prims do not report collisions
+Allow children of a linkset to be phantom:
+        http://opensim-dev.2196679.n2.nabble.com/Setting-a-single-child-prim-to-Phantom-tp7578513.html
+        Add OS_STATUS_PHANTOM_PRIM to llSetLinkPrimitaveParamsFast.
+Editing a child of a linkset causes the child to go phantom
+        Move a child prim once when it is physical and can never move it again without it going phantom
+Offset the center of the linkset to be the geometric center of all the prims
+        Not quite the same as the center-of-gravity
+Linksets should allow collisions to individual children
+        Add LocalID to children shapes in LinksetCompound and create events for individuals
+LinksetCompound: when one of the children changes orientation (like tires
+        turning on a vehicle, the whole compound object is rebuilt. Optimize this
+        so orientation/position of individual children can change without a rebuild.
+Verify/think through scripts in children of linksets. What do they reference
+        and return when getting position, velocity, ...
+Confirm constraint linksets still work after making all the changes for compound linksets.
+Use PostTaint callback to do rebuilds for constraint linksets to reduce rebuilding
+Add 'changed' flag or similar to reduce the number of times a linkset is rebuilt.
+        For compound linksets, add ability to remove or reposition individual child shapes.
+Speed up creation of large physical linksets
+        For instance, sitting in Neb's car (130 prims) takes several seconds to become physical.
+        REALLY bad for very large physical linksets (freezes the sim for many seconds).
+Eliminate collisions between objects in a linkset. (LinksetConstraint)
+    Have UserPointer point to struct with localID and linksetID?
+    Objects in original linkset still collide with each other?
+
+MORE
+======================================================
+Create tests for different interface components
+        Have test objects/scripts measure themselves and turn color if correct/bad
+        Test functions in SL and calibrate correctness there
+        Create auto rezzer and tracker to run through the tests
+Use the HACD convex hull routine in Bullet rather than the C# version.
+Do we need to do convex hulls all the time? Can complex meshes be left meshes?
+        There is some problem with meshes and collisions
+        Hulls are not as detailed as meshes. Hulled vehicles insides are different shape.
+Debounce avatar contact so legs don't keep folding up when standing.
+Implement LSL physics controls. Like STATUS_ROTATE_X.
+Add border extensions to terrain to help region crossings and objects leaving region.
+Use a different capsule shape for avatar when sitting
+        LL uses a pyrimidal shape scaled by the avatar's bounding box
+        http://wiki.secondlife.com/wiki/File:Avmeshforms.png
+Performance test with lots of avatars. Can BulletSim support a thousand?
+Optimize collisions in C++: only send up to the object subscribed to collisions.
+    Use collision subscription and remove the collsion(A,B) and collision(B,A)
+Check whether SimMotionState needs large if statement (see TODO).
+Implement 'top colliders' info.
+Avatar jump
+Performance measurement and changes to make quicker.
+Implement detailed physics stats (GetStats()).
+Measure performance improvement from hulls
+Test not using ghost objects for volume detect implementation.
+Performance of closures and delegates for taint processing
+        Are there faster ways?
+        Is any slowdown introduced by the existing implementation significant?
+Is there are more efficient method of implementing pre and post step actions?
+        See http://www.codeproject.com/Articles/29922/Weak-Events-in-C
+Physics Arena central pyramid: why is one side permiable?
+In SL, perfect spheres don't seem to have rolling friction. Add special case.
+Enforce physical parameter min/max:
+        Gravity: [-1, 28]
+        Friction: [0, 255]
+        Density: [1, 22587]
+        Restitution [0, 1]
+        http://wiki.secondlife.com/wiki/Physics_Material_Settings_test
+Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/31796/1.html
+Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale.html
+
+INTERNAL IMPROVEMENT/CLEANUP
+=================================================
+Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to
+        BSScene.TaintedObject() could immediately execute the callback if already in taint time.
+Create the physical wrapper classes (BulletBody, BulletShape) by methods on
+        BSAPITemplate and make their actual implementation Bullet engine specific.
+        For the short term, just call the existing functions in ShapeCollection.
+Consider moving prim/character body and shape destruction in destroy()
+        to postTimeTime rather than protecting all the potential sets that
+        might have been queued up.
+Remove unused fields from ShapeData (not used in API2)
+Remove unused fields from pinned memory shared parameter block
+        Create parameter variables in BSScene to replace same.
+Breakout code for mesh/hull/compound/native into separate BSShape* classes
+    Standardize access to building and reference code.
+        The skeleton classes are in the sources but are not complete or linked in.
+Make BSBody and BSShape real classes to centralize creation/changin/destruction
+        Convert state and parameter calls from BulletSimAPI direct calls to
+                calls on BSBody and BSShape
+Generalize Dynamics and PID with standardized motors.
+Generalize Linkset and vehicles into PropertyManagers
+    Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies
+        Potentially add events for shape destruction, etc.
+Better mechanism for resetting linkset set and vehicle parameters when body rebuilt.
+        BSPrim.CreateGeomAndObject is kludgy with the callbacks, etc.
+Implement linkset by setting position of children when root updated. (LinksetManual)
+        Linkset implementation using manual prim movement.
+LinkablePrim class? Would that simplify/centralize the linkset logic?
+BSScene.UpdateParameterSet() is broken. How to set params on objects?
+Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will
+    bob at the water level. BSPrim.PositionSanityCheck()
+Should taints check for existance or activeness of target?
+        When destroying linksets/etc, taints can be generated for objects that are
+        actually gone when the taint happens. Crashes don't happen because the taint closure
+        keeps the object from being freed, but that is just an accident.
+        Possibly have an 'active' flag that is checked by the taint processor?
+Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones)
+Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'?
+There are TOO MANY interfaces from BulletSim core to Bullet itself
+        Think of something to eliminate one or more of the layers
+
+THREADING
+=================================================
+Do taint action immediately if not actually executing Bullet.
+        Add lock around Bullet execution and just do taint actions if simulation is not happening.
+
+DONE DONE DONE DONE
+=================================================
+Cleanup code in BSDynamics by using motors. (Resolution: started)
+Consider implementing terrain with a mesh rather than heightmap. (Resolution: done)
+    Would have better and adjustable resolution.
+Build terrain mesh so heighmap is height of the center of the square meter.
+    Resolution: NOT DONE: SL and ODE define meter square as being at one corner with one diagional.
+Terrain as mesh. (Resolution: done)
+How are static linksets seen by the physics engine?
+    Resolution: they are not linked in physics. When moved, all the children are repositioned.
+Convert BSCharacter to use all API2 (Resolution: done)
+Avatar pushing difficult (too heavy?)
+Use asset service passed to BulletSim to get sculptie bodies, etc. (Resolution: done)
+Remove old code in DLL (all non-API2 stuff). (Resolution: done)
+Measurements of mega-physical prim performance (with graph) (Resolution: done, email)
+Debug Bullet internal stats output (why is timing all wrong?)
+        Resolution: Bullet stats logging only works with a single instance of Bullet (one region).
+Implement meshes or just verify that they work. (Resolution: they do!)
+Do prim hash codes work for sculpties and meshes? (Resolution: yes)
+Linkset implementation using compound shapes. (Resolution: implemented LinksetCompound)
+    Compound shapes will need the LocalID in the shapes and collision
+    processing to get it from there.
+Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.)
+Package Bullet source mods for Bullet internal stats output
+        (Resolution: move code into WorldData.h rather than relying on patches)
+Single prim vehicles don't seem to properly vehiclize.
+        (Resolution: mass was not getting set properly for single prim linksets)
+Add material type linkage and input all the material property definitions.
+        Skeleton classes and table are in the sources but are not filled or used.
+        (Resolution: 
+Neb vehicle taking > 25ms of physics time!!
+        (Resolution: compound linksets were being rebuild WAY too often)
+Avatar height off after unsitting (floats off ground)
+        Editting appearance then moving restores.
+        Must not be initializing height when recreating capsule after unsit.
+        (Resolution: confusion of scale vs size for native objects removed)
+Light cycle falling over when driving (Resolution: implemented angularMotorUp)
+Should vehicle angular/linear movement friction happen after all the components
+        or does it only apply to the basic movement?
+        (Resolution: friction added before returning newly computed motor value.
+        What is expected by some vehicles (turning up friction to moderate speed))
+Tune terrain/object friction to be closer to SL.
+        (Resolution: added material type with friction and resolution)
+Smooth avatar movement with motor (DONE)
+        Should motor update be all at taint-time? (Yes, DONE)
+        Fix avatar slowly sliding when standing (zero motion when stopped) (DONE)
+        (Resolution: added BSVMotor for avatar starting and stopping)
+llApplyImpulse()
+        Compare mass/movement in OS and SL. Calibrate actions.  (DONE)
+        (Resolution: tested on SL and OS. AddForce scales the force for timestep)
+llSetBuoyancy() (DONE)
+        (Resolution: Bullet resets object gravity when added to world. Moved set gravity)
+Avatar density is WAY off. Compare and calibrate with what's in SL. (DONE)
+        (Resolution: set default density to 3.5 (from 60) which is closer to SL)
+Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE)
+        (Resolution: added BSAPITemplate and then interfaces for C++ Bullet and C# BulletXNA
+Meshes rendering as bounding boxes (DONE)
+        (Resolution: Added test for mesh/sculpties in native shapes so it didn't think it was a box)
+llMoveToTarget (Resolution: added simple motor to update the position.)
+Angular motor direction is global coordinates rather than local coordinates (DONE)
+Add vehicle collisions so IsColliding is properly reported. (DONE)
+        Needed for banking, limitMotorUp, movementLimiting, ...
+        (Resolution: added CollisionFlags.BS_VEHICLE_COLLISION and code to use it)
+VehicleAddForce is not scaled by the simulation step but it is only
+        applied for one step. Should it be scaled? (DONE)
+        (Resolution: use force for timed things, Impulse for immediate, non-timed things)
+Complete implemention of preStepActions (DONE)
+        Replace vehicle step call with prestep event.
+        Is there a need for postStepActions? postStepTaints?
+Disable activity of passive linkset children. (DONE)
+        Since the linkset is a compound object, the old prims are left lying
+        around and need to be phantomized so they don't collide, ...
+Remove HeightmapInfo from terrain specification (DONE)
+    Since C++ code does not need terrain height, this structure et al are not needed.
+Surfboard go wonky when turning (DONE)
+        Angular motor direction is global coordinates rather than local coordinates?
+        (Resolution: made angular motor direction correct coordinate system)
+Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE)
+        Msg Kayaker on OSGrid when working
+        (Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the
+        same in SL as in OS/BulletSim)
+Boats float low in the water (DONE)
+Boats floating at proper level (DONE)
+When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
+        (Resolution: setForce registers a prestep action which keeps applying the force)
+Child movement in linkset (don't rebuild linkset) (DONE 20130122))
+Avatar standing on a moving object should start to move with the object. (DONE 20130125)
+Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
+        Verify that angular motion specified around Z moves in the vehicle coordinates.
+        DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs
index 0d1db3b..d240c71 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
new file mode 100755
index 0000000..33232bd
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.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.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+using NUnit.Framework;
+using log4net;
+
+using OpenSim.Framework;
+using OpenSim.Region.Physics.BulletSPlugin;
+using OpenSim.Region.Physics.Manager;
+using OpenSim.Tests.Common;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin.Tests
+{
+[TestFixture]
+public class BasicVehicles : OpenSimTestCase
+{
+    // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
+    // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
+
+    BSScene PhysicsScene { get; set; }
+    BSPrim TestVehicle { get; set; }
+    Vector3 TestVehicleInitPosition { get; set; }
+    float simulationTimeStep = 0.089f;
+
+    [TestFixtureSetUp]
+    public void Init()
+    {
+        Dictionary<string, string> engineParams = new Dictionary<string, string>();
+        PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
+
+        PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere();
+        Vector3 pos = new Vector3(100.0f, 100.0f, 0f);
+        pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f;
+        TestVehicleInitPosition = pos;
+        Vector3 size = new Vector3(1f, 1f, 1f);
+        pbs.Scale = size;
+        Quaternion rot = Quaternion.Identity;
+        bool isPhys = false;
+        uint localID = 123;
+
+        PhysicsScene.AddPrimShape("testPrim", pbs, pos, size, rot, isPhys, localID);
+        TestVehicle = (BSPrim)PhysicsScene.PhysObjects[localID];
+        // The actual prim shape creation happens at taint time
+        PhysicsScene.ProcessTaints();
+
+    }
+
+    [TestFixtureTearDown]
+    public void TearDown()
+    {
+        if (PhysicsScene != null)
+        {
+            // The Dispose() will also free any physical objects in the scene
+            PhysicsScene.Dispose();
+            PhysicsScene = null;
+        }
+    }
+
+    [TestCase(2f, 0.2f,  0.25f,  0.25f,  0.25f)]
+    [TestCase(2f, 0.2f, -0.25f,  0.25f,  0.25f)]
+    [TestCase(2f, 0.2f,  0.25f, -0.25f,  0.25f)]
+    [TestCase(2f, 0.2f, -0.25f, -0.25f,  0.25f)]
+    // [TestCase(2f, 0.2f, 0.785f,   0.0f,  0.25f) /*, "Leaning 45 degrees to the side" */]
+    // [TestCase(2f, 0.2f, 1.650f,   0.0f,  0.25f) /*, "Leaning more than 90 degrees to the side" */]
+    // [TestCase(2f, 0.2f, 2.750f,   0.0f,  0.25f) /*, "Almost upside down, tipped right" */]
+    // [TestCase(2f, 0.2f,-2.750f,   0.0f,  0.25f) /*, "Almost upside down, tipped left" */]
+    // [TestCase(2f, 0.2f,   0.0f, 0.785f,  0.25f) /*, "Tipped back 45 degrees" */]
+    // [TestCase(2f, 0.2f,   0.0f, 1.650f,  0.25f) /*, "Tipped back more than 90 degrees" */]
+    // [TestCase(2f, 0.2f,   0.0f, 2.750f,  0.25f) /*, "Almost upside down, tipped back" */]
+    // [TestCase(2f, 0.2f,   0.0f,-2.750f,  0.25f) /*, "Almost upside down, tipped forward" */]
+    public void AngularVerticalAttraction(float timeScale, float efficiency, float initRoll, float initPitch, float initYaw)
+    {
+        // Enough simulation steps to cover the timescale the operation should take
+        int simSteps = (int)(timeScale / simulationTimeStep) + 1;
+
+        // Tip the vehicle
+        Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw);
+        TestVehicle.Orientation = initOrientation;
+
+        TestVehicle.Position = TestVehicleInitPosition;
+
+        // The vehicle controller is not enabled directly (by setting a vehicle type).
+        //    Instead the appropriate values are set and calls are made just the parts of the
+        //    controller we want to exercise. Stepping the physics engine then applies
+        //    the actions of that one feature.
+        TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
+        TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
+        TestVehicle.VehicleController.enableAngularVerticalAttraction = true;
+
+        TestVehicle.IsPhysical = true;
+        PhysicsScene.ProcessTaints();
+
+        // Step the simulator a bunch of times and vertical attraction should orient the vehicle up
+        for (int ii = 0; ii < simSteps; ii++)
+        {
+            TestVehicle.VehicleController.ForgetKnownVehicleProperties();
+            TestVehicle.VehicleController.ComputeAngularVerticalAttraction();
+            TestVehicle.VehicleController.PushKnownChanged();
+
+            PhysicsScene.Simulate(simulationTimeStep);
+        }
+
+        TestVehicle.IsPhysical = false;
+        PhysicsScene.ProcessTaints();
+
+        // After these steps, the vehicle should be upright
+        /*
+        float finalRoll, finalPitch, finalYaw;
+        TestVehicle.Orientation.GetEulerAngles(out finalRoll, out finalPitch, out finalYaw);
+        Assert.That(finalRoll, Is.InRange(-0.01f, 0.01f));
+        Assert.That(finalPitch, Is.InRange(-0.01f, 0.01f));
+        Assert.That(finalYaw, Is.InRange(initYaw - 0.1f, initYaw + 0.1f));
+         */
+
+        Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation;
+        Assert.That(upPointer.Z, Is.GreaterThan(0.99f));
+    }
+}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTests.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTests.cs
new file mode 100755
index 0000000..35cbc1d
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTests.cs
@@ -0,0 +1,56 @@
+/*

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

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

+ *

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

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

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

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

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

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

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

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

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

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

+ *

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

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

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

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

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

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

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

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

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

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

+ */

+

+using System;

+using System.Collections.Generic;

+using System.Linq;

+using System.Text;

+

+using NUnit.Framework;

+using log4net;

+

+using OpenSim.Tests.Common;

+

+namespace OpenSim.Region.Physics.BulletSPlugin.Tests

+{

+[TestFixture]

+public class BulletSimTests : OpenSimTestCase

+{

+    // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1

+    // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1

+

+    [TestFixtureSetUp]

+    public void Init()

+    {

+    }

+

+    [TestFixtureTearDown]

+    public void TearDown()

+    {

+    }

+}

+}

diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
new file mode 100755
index 0000000..28207a4
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
@@ -0,0 +1,95 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.IO;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+using Nini.Config;
+
+using OpenSim.Framework;
+using OpenSim.Region.Physics.BulletSPlugin;
+using OpenSim.Region.Physics.Meshing;
+
+namespace OpenSim.Region.Physics.BulletSPlugin.Tests
+{
+// Utility functions for building up and tearing down the sample physics environments
+public static class BulletSimTestsUtil
+{
+    // 'engineName' is the Bullet engine to use. Either null (for unmanaged), "BulletUnmanaged" or "BulletXNA"
+    // 'params' is a set of keyValue pairs to set in the engine's configuration file (override defaults)
+    //      May be 'null' if there are no overrides.
+    public static BSScene CreateBasicPhysicsEngine(Dictionary<string,string> paramOverrides)
+    {
+        IConfigSource openSimINI = new IniConfigSource();
+        IConfig startupConfig = openSimINI.AddConfig("Startup");
+        startupConfig.Set("physics", "BulletSim");
+        startupConfig.Set("meshing", "Meshmerizer");
+        startupConfig.Set("cacheSculptMaps", "false");  // meshmerizer shouldn't save maps
+
+        IConfig bulletSimConfig = openSimINI.AddConfig("BulletSim");
+        // If the caller cares, specify the bullet engine otherwise it will default to "BulletUnmanaged".
+        // bulletSimConfig.Set("BulletEngine", "BulletUnmanaged");
+        // bulletSimConfig.Set("BulletEngine", "BulletXNA");
+        bulletSimConfig.Set("MeshSculptedPrim", "false");
+        bulletSimConfig.Set("ForceSimplePrimMeshing", "true");
+        if (paramOverrides != null)
+        {
+            foreach (KeyValuePair<string, string> kvp in paramOverrides)
+            {
+                bulletSimConfig.Set(kvp.Key, kvp.Value);
+            }
+        }
+
+        // If a special directory exists, put detailed logging therein.
+        // This allows local testing/debugging without having to worry that the build engine will output logs.
+        if (Directory.Exists("physlogs"))
+        {
+            bulletSimConfig.Set("PhysicsLoggingDir","./physlogs");
+            bulletSimConfig.Set("PhysicsLoggingEnabled","True");
+            bulletSimConfig.Set("PhysicsLoggingDoFlush","True");
+            bulletSimConfig.Set("VehicleLoggingEnabled","True");
+        }
+
+        BSPlugin bsPlugin = new BSPlugin();
+
+        BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion");
+
+        // Since the asset requestor is not initialized, any mesh or sculptie will be a cube.
+        // In the future, add a fake asset fetcher to get meshes and sculpts.
+        // bsScene.RequestAssetMethod = ???;
+
+        Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI);
+        bsScene.Initialise(mesher, openSimINI);
+
+        return bsScene;
+    }
+
+}
+}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
index 8de70ef..ba24aa7 100644
--- a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -2190,7 +2190,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         convex = false;
                     try
                     {
-                        _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, (int)LevelOfDetail.High, true,convex,false);
+                        _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, (int)LevelOfDetail.High, true,false,convex,false);
                     }
                     catch
                     {
@@ -2557,7 +2557,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                 try
                 {
-                    mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true, convex,false);
+                    mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true, false,convex,false);
                 }
                 catch
                 {
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
index 5ff945d..cafd7f4 100644
--- a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
@@ -32,5 +32,5 @@ using System.Runtime.InteropServices;
 // You can specify all the values or you can default the Build and Revision Numbers 
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/Physics/Manager/AssemblyInfo.cs b/OpenSim/Region/Physics/Manager/AssemblyInfo.cs
index 36b4235..5da3956 100644
--- a/OpenSim/Region/Physics/Manager/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/Manager/AssemblyInfo.cs
@@ -55,4 +55,4 @@ using System.Runtime.InteropServices;
 // You can specify all values by your own or you can build default build and revision
 // numbers with the '*' character (the default):
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs
index ecc2918..5485eb7 100644
--- a/OpenSim/Region/Physics/Manager/IMesher.cs
+++ b/OpenSim/Region/Physics/Manager/IMesher.cs
@@ -37,7 +37,7 @@ namespace OpenSim.Region.Physics.Manager
     {
         IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
         IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
-        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex, bool forOde);
         IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex);
         void ReleaseMesh(IMesh mesh);
         void ExpireReleaseMeshs();
@@ -83,6 +83,7 @@ namespace OpenSim.Region.Physics.Manager
         List<Vector3> getVertexList();
         int[] getIndexListAsInt();
         int[] getIndexListAsIntLocked();
+        float[] getVertexListAsFloat();
         float[] getVertexListAsFloatLocked();
         void getIndexListAsPtrToIntArray(out IntPtr indices, out int triStride, out int indexCount);
         void getVertexListAsPtrToFloatArray(out IntPtr vertexList, out int vertexStride, out int vertexCount);
diff --git a/OpenSim/Region/Physics/Manager/IPhysicsParameters.cs b/OpenSim/Region/Physics/Manager/IPhysicsParameters.cs
index b8676ba..31a397c 100755
--- a/OpenSim/Region/Physics/Manager/IPhysicsParameters.cs
+++ b/OpenSim/Region/Physics/Manager/IPhysicsParameters.cs
@@ -60,14 +60,14 @@ namespace OpenSim.Region.Physics.Manager
 
         // Set parameter on a specific or all instances.
         // Return 'false' if not able to set the parameter.
-        bool SetPhysicsParameter(string parm, float value, uint localID);
+        bool SetPhysicsParameter(string parm, string value, uint localID);
 
         // Get parameter.
         // Return 'false' if not able to get the parameter.
-        bool GetPhysicsParameter(string parm, out float value);
+        bool GetPhysicsParameter(string parm, out string value);
 
         // Get parameter from a particular object
         // TODO:
-        // bool GetPhysicsParameter(string parm, out float value, uint localID);
+        // bool GetPhysicsParameter(string parm, out string value, uint localID);
     }
 }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index dcb2c91..7cd364b 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -349,17 +349,20 @@ namespace OpenSim.Region.Physics.Manager
         }
 
         /// <summary>
-        /// Velocity of this actor.
+        /// The desired velocity of this actor.
         /// </summary>
         /// <remarks>
         /// Setting this provides a target velocity for physics scene updates.
-        /// Getting this returns the velocity calculated by physics scene updates, using factors such as target velocity,
-        /// time to accelerate and collisions.
+        /// Getting this returns the last set target. Fetch Velocity to get the current velocity.
         /// </remarks>
+        protected Vector3 m_targetVelocity;
         public virtual Vector3 TargetVelocity
         {
-            get { return Velocity; }
-            set { Velocity = value; }
+            get { return m_targetVelocity; }
+            set {
+                m_targetVelocity = value;
+                Velocity = m_targetVelocity;
+            }
         }
 
         public abstract Vector3 Velocity { get; set; }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
index 8587a2b..8ccfda5 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
@@ -30,7 +30,7 @@ using System.Collections.Generic;
 using System.IO;
 using System.Reflection;
 using Nini.Config;
-using log4net;

+using log4net;
 using OpenSim.Framework;
 
 namespace OpenSim.Region.Physics.Manager
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index 57e2d20..20a70b4 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -47,7 +47,7 @@ namespace OpenSim.Region.Physics.Manager
     public delegate void JointDeactivated(PhysicsJoint joint);
     public delegate void JointErrorMessage(PhysicsJoint joint, string message); // this refers to an "error message due to a problem", not "amount of joint constraint violation"
 
-    public enum RayFilterFlags:ushort
+    public enum RayFilterFlags : ushort
     {
         // the flags
         water = 0x01,
@@ -64,7 +64,7 @@ namespace OpenSim.Region.Physics.Manager
         ClosestHit = 0x8000,
 
         // some combinations
-        LSLPhanton = phantom | volumedtc,
+        LSLPhantom = phantom | volumedtc,
         PrimsNonPhantom = nonphysical | physical,
         PrimsNonPhantomAgents = nonphysical | physical | agent,
 
@@ -97,13 +97,20 @@ namespace OpenSim.Region.Physics.Manager
 //        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
         /// <summary>
-        /// Name of this scene.  Useful in debug messages to distinguish one OdeScene instance from another.
+        /// A unique identifying string for this instance of the physics engine.
+        /// Useful in debug messages to distinguish one OdeScene instance from another.
+        /// Usually set to include the region name that the physics engine is acting for.
         /// </summary>
         public string Name { get; protected set; }
 
+        /// <summary>
+        /// A string identifying the family of this physics engine. Most common values returned
+        /// are "OpenDynamicsEngine" and "BulletSim" but others are possible.
+        /// </summary>
+        public string EngineType { get; protected set; }
+
         // The only thing that should register for this event is the SceneGraph
         // Anything else could cause problems.
-
         public event physicsCrash OnPhysicsCrash;
 
         public static PhysicsScene Null
diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
index 16846e6..80ecf66 100644
--- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs
+++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
@@ -64,16 +64,21 @@ namespace OpenSim.Region.Physics.Manager
     {
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
-            return CreateMesh(primName, primShape, size, lod, false);
+            return CreateMesh(primName, primShape, size, lod, false, false);
         }
 
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex,bool forOde)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex,bool forOde)
         {
             return CreateMesh(primName, primShape, size, lod, false);
         }
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
+            return CreateMesh(primName, primShape, size, lod, false, false);
+        }
+
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache)
+        {
             // Remove the reference to the encoded JPEG2000 data so it can be GCed
             primShape.SculptData = OpenMetaverse.Utils.EmptyBytes;
 
diff --git a/OpenSim/Region/Physics/Meshing/Mesh.cs b/OpenSim/Region/Physics/Meshing/Mesh.cs
index 6970553..e6b32e7 100644
--- a/OpenSim/Region/Physics/Meshing/Mesh.cs
+++ b/OpenSim/Region/Physics/Meshing/Mesh.cs
@@ -226,7 +226,7 @@ namespace OpenSim.Region.Physics.Meshing
             return result;
         }
 
-        private float[] getVertexListAsFloat()
+        public float[] getVertexListAsFloat()
         {
             if (m_vertices == null)
                 throw new NotSupportedException();
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index f629c4d..d181b78 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -321,6 +321,9 @@ namespace OpenSim.Region.Physics.Meshing
 
             if (primShape.SculptData.Length <= 0)
             {
+                // XXX: At the moment we can not log here since ODEPrim, for instance, ends up triggering this
+                // method twice - once before it has loaded sculpt data from the asset service and once afterwards.
+                // The first time will always call with unloaded SculptData if this needs to be uploaded.
 //                m_log.ErrorFormat("[MESH]: asset data for {0} is zero length", primName);
                 return false;
             }
@@ -699,16 +702,21 @@ namespace OpenSim.Region.Physics.Meshing
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
-            return CreateMesh(primName, primShape, size, lod, false);
+            return CreateMesh(primName, primShape, size, lod, false, true);
         }
 
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex, bool forOde)
         {
             return CreateMesh(primName, primShape, size, lod, false);
         }
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
+            return CreateMesh(primName, primShape, size, lod, isPhysical, true);
+        }
+
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache)
+        {
 #if SPAM
             m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);
 #endif
@@ -718,9 +726,12 @@ namespace OpenSim.Region.Physics.Meshing
 
             // If this mesh has been created already, return it instead of creating another copy
             // For large regions with 100k+ prims and hundreds of copies of each, this can save a GB or more of memory
-            key = primShape.GetMeshKey(size, lod);
-            if (m_uniqueMeshes.TryGetValue(key, out mesh))
-                return mesh;
+            if (shouldCache)
+            {
+                key = primShape.GetMeshKey(size, lod);
+                if (m_uniqueMeshes.TryGetValue(key, out mesh))
+                    return mesh;
+            }
 
             if (size.X < 0.01f) size.X = 0.01f;
             if (size.Y < 0.01f) size.Y = 0.01f;
@@ -743,7 +754,10 @@ namespace OpenSim.Region.Physics.Meshing
                 // trim the vertex and triangle lists to free up memory
                 mesh.TrimExcess();
 
-                m_uniqueMeshes.Add(key, mesh);
+                if (shouldCache)
+                {
+                    m_uniqueMeshes.Add(key, mesh);
+                }
             }
 
             return mesh;
diff --git a/OpenSim/Region/Physics/Meshing/Properties/AssemblyInfo.cs b/OpenSim/Region/Physics/Meshing/Properties/AssemblyInfo.cs
index 4cc1731..bd70296 100644
--- a/OpenSim/Region/Physics/Meshing/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/Meshing/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
index 3c4f06a..f477ed1 100644
--- a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
@@ -55,4 +55,4 @@ using System.Runtime.InteropServices;
 // You can specify all values by your own or you can build default build and revision
 // numbers with the '*' character (the default):
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index a59f63f..d09aa62 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -3367,6 +3367,11 @@ Console.WriteLine(" JointCreateFixed");
                 _pbs.SculptData = new byte[asset.Data.Length];
                 asset.Data.CopyTo(_pbs.SculptData, 0);
 //                m_assetFailed = false;
+
+//                m_log.DebugFormat(
+//                    "[ODE PRIM]: Received mesh/sculpt data asset {0} with {1} bytes for {2} at {3} in {4}", 
+//                    _pbs.SculptTexture, _pbs.SculptData.Length, Name, _position, _parent_scene.Name);
+
                 m_taintshape = true;
                _parent_scene.AddPhysicsActorTaint(this);
             }
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 478dd95..07663b3 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -72,7 +72,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 // http://opensimulator.org/mantis/view.php?id=2750).
                 d.InitODE();
                 
-                m_scene = new OdeScene(sceneIdentifier);
+                m_scene = new OdeScene(GetName(), sceneIdentifier);
             }
 
             return m_scene;
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index d53bd90..6d7f079 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -526,11 +526,12 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// These settings need to be tweaked 'exactly' right or weird stuff happens.
         /// </summary>
         /// <param value="name">Name of the scene.  Useful in debug messages.</param>
-        public OdeScene(string name)
+        public OdeScene(string engineType, string name)
         {
             m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + name);
 
             Name = name;
+            EngineType = engineType;
 
             nearCallback = near;
             triCallback = TriCallback;
@@ -4095,8 +4096,8 @@ namespace OpenSim.Region.Physics.OdePlugin
             lock (_prims)
             {
                 List<OdePrim> orderedPrims = new List<OdePrim>(_prims);
-                orderedPrims.OrderByDescending(p => p.CollisionScore).Take(25);
-                topColliders = orderedPrims.ToDictionary(p => p.LocalID, p => p.CollisionScore);
+                orderedPrims.OrderByDescending(p => p.CollisionScore);
+                topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore);
 
                 foreach (OdePrim p in _prims)
                     p.CollisionScore = 0;
diff --git a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
index cbc6b95..16404c6 100644
--- a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
+++ b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
@@ -32,13 +32,14 @@ using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
 using OpenSim.Region.Physics.OdePlugin;
+using OpenSim.Tests.Common;
 using log4net;
 using System.Reflection;
 
 namespace OpenSim.Region.Physics.OdePlugin.Tests
 {
     [TestFixture]
-    public class ODETestClass
+    public class ODETestClass : OpenSimTestCase
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
diff --git a/OpenSim/Region/Physics/POSPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/POSPlugin/AssemblyInfo.cs
index d07df02..4289863 100644
--- a/OpenSim/Region/Physics/POSPlugin/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/POSPlugin/AssemblyInfo.cs
@@ -55,4 +55,4 @@ using System.Runtime.InteropServices;
 // You can specify all values by your own or you can build default build and revision
 // numbers with the '*' character (the default):
 
-[assembly : AssemblyVersion("0.7.5.*")]
+[assembly : AssemblyVersion("0.7.6.*")]
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs b/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
index e6b42e6..ed086dd 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
@@ -49,7 +49,7 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         public PhysicsScene GetScene(string sceneIdentifier)
         {
-            return new POSScene(sceneIdentifier);
+            return new POSScene(GetName(), sceneIdentifier);
         }
 
         public string GetName()
diff --git a/OpenSim/Region/Physics/POSPlugin/POSScene.cs b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
index 2f24a50..d30d482 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSScene.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
@@ -43,8 +43,10 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         //protected internal string sceneIdentifier;
 
-        public POSScene(String _sceneIdentifier)
+        public POSScene(string engineType, String _sceneIdentifier)
         {
+            EngineType = engineType;
+            Name = EngineType + "/" + _sceneIdentifier;
             //sceneIdentifier = _sceneIdentifier;
         }
 
diff --git a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs
index b67422f..fa06926 100644
--- a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs
+++ b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs
@@ -301,7 +301,7 @@ namespace OpenSim.Region.Physics.Meshing
             return result;
         }
 
-        private float[] getVertexListAsFloat()
+        public float[] getVertexListAsFloat()
         {
             if (m_bdata.m_vertices == null)
                 throw new NotSupportedException();
diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
index 6e1a105..00cbfbd 100644
--- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
@@ -1031,12 +1031,12 @@ namespace OpenSim.Region.Physics.Meshing
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
-            return CreateMesh(primName, primShape, size, lod, false,false,false);
+            return CreateMesh(primName, primShape, size, lod, false,false,false,false);
         }
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
-            return CreateMesh(primName, primShape, size, lod, false,false,false);
+            return CreateMesh(primName, primShape, size, lod, false,false,false,false);
         }
 
         public IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex)
@@ -1080,7 +1080,7 @@ namespace OpenSim.Region.Physics.Meshing
 
         private static Vector3 m_MeshUnitSize = new Vector3(1.0f, 1.0f, 1.0f);
         
-        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde)
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex, bool forOde)
         {
 #if SPAM
             m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
index 5030cec..0df71eb 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
@@ -448,7 +448,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 else
                 {
                     repData.meshState = MeshState.needMesh;
-                    mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
+                    mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true);
                     if (mesh == null)
                     {
                         repData.meshState = MeshState.MeshFailed;
@@ -513,7 +513,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     clod = (int)LevelOfDetail.Low;
             }
 
-            mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
+            mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true);
    
             if (mesh == null)
             {
@@ -929,4 +929,4 @@ namespace OpenSim.Region.Physics.OdePlugin
                     repData.actor.Name);
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
index 4f598ea..2923ccf 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -300,9 +300,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 ((ProbeSphereCallback)req.callbackMethod)(cresult);
         }
 
-        private const RayFilterFlags FilterActiveSpace = RayFilterFlags.agent | RayFilterFlags.physical | RayFilterFlags.LSLPhanton;
+        private const RayFilterFlags FilterActiveSpace = RayFilterFlags.agent | RayFilterFlags.physical | RayFilterFlags.LSLPhantom;
 //        private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.land | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton;
-        private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton;
+        private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhantom;
 
         private void doSpaceRay(ODERayRequest req)
         {
@@ -680,4 +680,4 @@ namespace OpenSim.Region.Physics.OdePlugin
         public RayFilterFlags filter;
         public Quaternion orientation;
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/RegionCombinerModule/Properties/AssemblyInfo.cs b/OpenSim/Region/RegionCombinerModule/Properties/AssemblyInfo.cs
index 085eb59..ca945b5 100644
--- a/OpenSim/Region/RegionCombinerModule/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/RegionCombinerModule/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/ScriptEngine/Interfaces/IScriptApi.cs b/OpenSim/Region/ScriptEngine/Interfaces/IScriptApi.cs
index 2027ca6..30e99b0 100644
--- a/OpenSim/Region/ScriptEngine/Interfaces/IScriptApi.cs
+++ b/OpenSim/Region/ScriptEngine/Interfaces/IScriptApi.cs
@@ -26,9 +26,11 @@
  */
 
 using System;
+using System.Threading;
 using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.ScriptEngine.Shared;
 
 namespace OpenSim.Region.ScriptEngine.Interfaces
 {
@@ -38,11 +40,12 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
         /// Initialize the API
         /// </summary>
         /// <remarks>
-        /// Each API has an identifier, which is used to load the
-        /// proper runtime assembly at load time.
-        /// <param name='engine'>/param>
-        /// <param name='part'></param>
-        /// <param name='item'></param>
-        void Initialize(IScriptEngine engine, SceneObjectPart part, TaskInventoryItem item);
+        /// Each API has an identifier, which is used to load the proper runtime assembly at load time.
+        /// <param name='scriptEngine'>/param>
+        /// <param name='host'>/param>
+        /// <param name='item'>/param>
+        /// <param name='coopSleepHandle'>/param>
+        void Initialize(
+            IScriptEngine scriptEngine, SceneObjectPart host, TaskInventoryItem item, WaitHandle coopSleepHandle);
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Region/ScriptEngine/Interfaces/IScriptEngine.cs b/OpenSim/Region/ScriptEngine/Interfaces/IScriptEngine.cs
index 17c2708..b8fdd01 100644
--- a/OpenSim/Region/ScriptEngine/Interfaces/IScriptEngine.cs
+++ b/OpenSim/Region/ScriptEngine/Interfaces/IScriptEngine.cs
@@ -25,16 +25,17 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-using log4net;
 using System;
-using OpenSim.Region.ScriptEngine.Shared;
+using System.Reflection;
+using OpenSim.Framework;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Interfaces;
-using OpenMetaverse;
-using Nini.Config;
 using OpenSim.Region.ScriptEngine.Interfaces;
+using OpenSim.Region.ScriptEngine.Shared;
 using Amib.Threading;
-using OpenSim.Framework;
+using log4net;
+using Nini.Config;
+using OpenMetaverse;
 
 namespace OpenSim.Region.ScriptEngine.Interfaces
 {
@@ -76,6 +77,38 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
         IConfigSource ConfigSource { get; }
         string ScriptEngineName { get; }
         string ScriptEnginePath { get; }
+
+        /// <summary>
+        /// Return the name of the class that will be used for all running scripts.
+        /// </summary>
+        /// <remarks>
+        /// Each class goes in its own assembly so we don't need to otherwise distinguish the class name.
+        /// </remarks>
+        string ScriptClassName { get; }
+
+        /// <summary>
+        /// Return the name of the base class that will be used for all running scripts.
+        /// </summary>
+        string ScriptBaseClassName { get; }
+
+        /// <summary>
+        /// Assemblies that need to be referenced when compiling scripts.
+        /// </summary>
+        /// <remarks>
+        /// These are currently additional to those always referenced by the compiler, BUT THIS MAY CHANGE IN THE 
+        /// FUTURE.
+        /// This can be null if there are no additional assemblies.
+        /// </remarks>
+        string[] ScriptReferencedAssemblies { get; }
+
+        /// <summary>
+        /// Parameters for the generated script's constructor.
+        /// </summary>
+        /// <remarks>
+        /// Can be null if there are no parameters
+        /// </remarks>
+        ParameterInfo[] ScriptBaseClassParameters { get; }
+
         IScriptApi GetApi(UUID itemID, string name);
     }
 }
diff --git a/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs b/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs
index b04f6b6..35ae44c 100644
--- a/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs
+++ b/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs
@@ -28,9 +28,11 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Threading;
 using OpenMetaverse;
 using log4net;
 using OpenSim.Framework;
+using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Interfaces;
 
@@ -50,7 +52,12 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
     {
         bool Cancel();
         void Abort();
-        bool Wait(TimeSpan t);
+
+        /// <summary>
+        /// Wait for the work item to complete.
+        /// </summary>
+        /// <param name='t'>The number of milliseconds to wait.  Must be >= -1 (Timeout.Infinite).</param>
+        bool Wait(int t);
     }
 
     /// <summary>
@@ -59,6 +66,18 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
     public interface IScriptInstance
     {
         /// <summary>
+        /// Debug level for this script instance.
+        /// </summary>
+        /// <remarks>
+        /// Level == 0, no extra data is logged.
+        /// Level >= 1, state changes are logged.
+        /// Level >= 2, event firing is logged.
+        /// <value>
+        /// The debug level.
+        /// </value>
+        int DebugLevel { get; set; }
+
+        /// <summary>
         /// Is the script currently running?
         /// </summary>
         bool Running { get; set; }
@@ -93,6 +112,11 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
         /// </summary>
         long MeasurementPeriodExecutionTime { get; }
 
+        /// <summary>
+        /// Scene part in which this script instance is contained.
+        /// </summary>
+        SceneObjectPart Part { get; }
+
         IScriptEngine Engine { get; }
         UUID AppDomain { get; set; }
         string PrimName { get; }
@@ -112,8 +136,24 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
 
         uint LocalID { get; }
         UUID AssetID { get; }
+
+        /// <summary>
+        /// Inventory item containing the script used.
+        /// </summary>
+        TaskInventoryItem ScriptTask { get; }
+
         Queue EventQueue { get; }
 
+        /// <summary>
+        /// Number of events queued for processing.
+        /// </summary>
+        long EventsQueued { get; }
+
+        /// <summary>
+        /// Number of events processed by this script instance.
+        /// </summary>
+        long EventsProcessed { get; }
+
         void ClearQueue();
         int StartParam { get; set; }
 
@@ -125,7 +165,13 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
         /// <summary>
         /// Stop the script instance.
         /// </summary>
+        /// <remarks>
+        /// This must not be called by a thread that is in the process of handling an event for this script.  Otherwise
+        /// there is a danger that it will self-abort and not complete the reset.
+        /// </remarks>
         /// <param name="timeout"></param>
+        /// How many milliseconds we will wait for an existing script event to finish before
+        /// forcibly aborting that event.
         /// <returns>true if the script was successfully stopped, false otherwise</returns>
         bool Stop(int timeout);
 
@@ -147,8 +193,31 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
         object EventProcessor();
 
         int EventTime();
-        void ResetScript();
+
+        /// <summary>
+        /// Reset the script.
+        /// </summary>
+        /// <remarks>
+        /// This must not be called by a thread that is in the process of handling an event for this script.  Otherwise
+        /// there is a danger that it will self-abort and not complete the reset.  Such a thread must call
+        /// ApiResetScript() instead.
+        /// </remarks>
+        /// <param name='timeout'>
+        /// How many milliseconds we will wait for an existing script event to finish before
+        /// forcibly aborting that event prior to script reset.
+        /// </param>
+        void ResetScript(int timeout);
+
+        /// <summary>
+        /// Reset the script.
+        /// </summary>
+        /// <remarks>
+        /// This must not be called by any thread other than the one executing the scripts current event.  This is 
+        /// because there is no wait or abort logic if another thread is in the middle of processing a script event.
+        /// Such an external thread should use ResetScript() instead.
+        /// </remarks>
         void ApiResetScript();
+
         Dictionary<string, object> GetVars();
         void SetVars(Dictionary<string, object> vars);
         DetectParams GetDetectParams(int idx);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/CM_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/CM_Api.cs
index b5fa6de..fce8ff8 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/CM_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/CM_Api.cs
@@ -26,6 +26,7 @@
  */
 
 using System;
+using System.Threading;
 using System.Reflection;
 using System.Collections;
 using System.Collections.Generic;
@@ -62,7 +63,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         internal TaskInventoryItem m_item;
         internal bool m_CMFunctionsEnabled = false;
 
-        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item)
+        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item, WaitHandle coopSleepHandle)
         {
             m_ScriptEngine = ScriptEngine;
             m_host = host;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 6685764..4c6950d 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -48,6 +48,7 @@ using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Scenes.Serialization;
 using OpenSim.Region.Framework.Scenes.Animation;
+using OpenSim.Region.Framework.Scenes.Scripting;
 using OpenSim.Region.Physics.Manager;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api.Plugins;
@@ -87,10 +88,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
     public class LSL_Api : MarshalByRefObject, ILSL_Api, IScriptApi
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
         protected IScriptEngine m_ScriptEngine;
         protected SceneObjectPart m_host;
 
         /// <summary>
+        /// Used for script sleeps when we are using co-operative script termination.
+        /// </summary>
+        /// <remarks>null if co-operative script termination is not active</remarks>  
+        WaitHandle m_coopSleepHandle;       
+
+        /// <summary>
         /// The item that hosts this script
         /// </summary>
         protected TaskInventoryItem m_item;
@@ -100,6 +108,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         protected float m_ScriptDelayFactor = 1.0f;
         protected float m_ScriptDistanceFactor = 1.0f;
         protected float m_MinTimerInterval = 0.5f;
+        protected float m_recoilScaleFactor = 0.0f;
 
         protected DateTime m_timer = DateTime.Now;
         protected bool m_waitingForScriptAnswer = false;
@@ -141,33 +150,31 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         {"TURNRIGHT", "Turning Right"}
                 };
 
-        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item)
+        public void Initialize(
+            IScriptEngine scriptEngine, SceneObjectPart host, TaskInventoryItem item, WaitHandle coopSleepHandle)
         {
-/*
-            m_ShoutSayTimer = new Timer(1000);
-            m_ShoutSayTimer.Elapsed += SayShoutTimerElapsed;
-            m_ShoutSayTimer.AutoReset = true;
-            m_ShoutSayTimer.Start();
-*/
             m_lastSayShoutCheck = DateTime.UtcNow;
 
-            m_ScriptEngine = ScriptEngine;
+            m_ScriptEngine = scriptEngine;
             m_host = host;
             m_item = item;
             m_debuggerSafe = m_ScriptEngine.Config.GetBoolean("DebuggerSafe", false);
+            m_coopSleepHandle = coopSleepHandle;
 
-            LoadLimits();  // read script limits from config.
+            LoadConfig();
 
             m_TransferModule =
                     m_ScriptEngine.World.RequestModuleInterface<IMessageTransferModule>();
             m_UrlModule = m_ScriptEngine.World.RequestModuleInterface<IUrlModule>();
             m_SoundModule = m_ScriptEngine.World.RequestModuleInterface<ISoundModule>();
 
-            AsyncCommands = new AsyncCommandManager(ScriptEngine);
+            AsyncCommands = new AsyncCommandManager(m_ScriptEngine);
         }
 
-        /* load configuration items that affect script, object and run-time behavior. */
-        private void LoadLimits()
+        /// <summary>
+        /// Load configuration items that affect script, object and run-time behavior. */
+        /// </summary>
+        private void LoadConfig()
         {
             m_ScriptDelayFactor =
                 m_ScriptEngine.Config.GetFloat("ScriptDelayFactor", 1.0f);
@@ -181,12 +188,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 m_ScriptEngine.Config.GetInt("NotecardLineReadCharsMax", 255);
             if (m_notecardLineReadCharsMax > 65535)
                 m_notecardLineReadCharsMax = 65535;
+
             // load limits for particular subsystems.
             IConfig SMTPConfig;
             if ((SMTPConfig = m_ScriptEngine.ConfigSource.Configs["SMTP"]) != null) {
                 // there's an smtp config, so load in the snooze time.
                 EMAIL_PAUSE_TIME = SMTPConfig.GetInt("email_pause_time", EMAIL_PAUSE_TIME);
             }
+
+            // Rezzing an object with a velocity can create recoil. This feature seems to have been
+            //    removed from recent versions of SL. The code computes recoil (vel*mass) and scales
+            //    it by this factor. May be zero to turn off recoil all together.
+            m_recoilScaleFactor = m_ScriptEngine.Config.GetFloat("RecoilScaleFactor", m_recoilScaleFactor);
         }
 
         public override Object InitializeLifetimeService()
@@ -207,7 +220,26 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             delay = (int)((float)delay * m_ScriptDelayFactor);
             if (delay == 0)
                 return;
-            System.Threading.Thread.Sleep(delay);
+
+            Sleep(delay);
+        }
+
+        protected virtual void Sleep(int delay)
+        {
+            if (m_coopSleepHandle == null)
+                System.Threading.Thread.Sleep(delay);
+            else
+                CheckForCoopTermination(delay);
+        }
+
+        /// <summary>
+        /// Check for co-operative termination.
+        /// </summary>
+        /// <param name='delay'>If called with 0, then just the check is performed with no wait.</param>
+        protected virtual void CheckForCoopTermination(int delay)
+        {
+            if (m_coopSleepHandle.WaitOne(delay))
+                throw new ScriptCoopStopException();
         }
 
         public Scene World
@@ -392,79 +424,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
         }
 
-        protected UUID InventoryKey(string name, int type)
-        {
-            TaskInventoryItem item = m_host.Inventory.GetInventoryItem(name);
-
-            if (item != null && item.Type == type)
-                return item.AssetID;
-            else
-                return UUID.Zero;
-        }
-
-        /// <summary>
-        /// accepts a valid UUID, -or- a name of an inventory item.
-        /// Returns a valid UUID or UUID.Zero if key invalid and item not found
-        /// in prim inventory.
-        /// </summary>
-        /// <param name="k"></param>
-        /// <returns></returns>
-        protected UUID KeyOrName(string k)
-        {
-            UUID key;
-
-            // if we can parse the string as a key, use it.
-            // else try to locate the name in inventory of object. found returns key,
-            // not found returns UUID.Zero
-            if (!UUID.TryParse(k, out key))
-            {
-                TaskInventoryItem item = m_host.Inventory.GetInventoryItem(k);
-
-                if (item != null)
-                    key = item.AssetID;
-                else
-                    key = UUID.Zero;
-            }
-
-            return key;
-        }
-
-        /// <summary>
-        /// Return the UUID of the asset matching the specified key or name
-        /// and asset type.
-        /// </summary>
-        /// <param name="k"></param>
-        /// <param name="type"></param>
-        /// <returns></returns>
-        protected UUID KeyOrName(string k, AssetType type)
-        {
-            UUID key;
-
-            if (!UUID.TryParse(k, out key))
-            {
-                TaskInventoryItem item = m_host.Inventory.GetInventoryItem(k);
-                if (item != null && item.Type == (int)type)
-                    key = item.AssetID;
-            }
-            else
-            {
-                lock (m_host.TaskInventory)
-                {
-                    foreach (KeyValuePair<UUID, TaskInventoryItem> item in m_host.TaskInventory)
-                    {
-                        if (item.Value.Type == (int)type && item.Value.Name == k)
-                        {
-                            key = item.Value.ItemID;
-                            break;
-                        }
-                    }
-                }
-            }
-
-
-            return key;
-        }
-
         //These are the implementations of the various ll-functions used by the LSL scripts.
         public LSL_Float llSin(double f)
         {
@@ -1483,19 +1442,20 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         return 0;
 
                 case ScriptBaseClass.STATUS_ROTATE_X:
-                    if (m_host.GetAxisRotation(2) == 2)
+                    // if (m_host.GetAxisRotation(2) != 0)
+                    if (m_host.GetAxisRotation((int)SceneObjectGroup.axisSelect.STATUS_ROTATE_X) != 0)
                         return 1;
                     else
                         return 0;
 
                 case ScriptBaseClass.STATUS_ROTATE_Y:
-                    if (m_host.GetAxisRotation(4) == 4)
+                    if (m_host.GetAxisRotation((int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Y) != 0)
                         return 1;
                     else
                         return 0;
 
                 case ScriptBaseClass.STATUS_ROTATE_Z:
-                    if (m_host.GetAxisRotation(8) == 8)
+                    if (m_host.GetAxisRotation((int)SceneObjectGroup.axisSelect.STATUS_ROTATE_Z) != 0)
                         return 1;
                     else
                         return 0;
@@ -1875,10 +1835,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 part.Shape.FlexiForceX = (float)Force.x;
                 part.Shape.FlexiForceY = (float)Force.y;
                 part.Shape.FlexiForceZ = (float)Force.z;
-                part.Shape.PathCurve = 0x80;
-                part.ParentGroup.HasGroupChanged = true;
-                part.ScheduleFullUpdate();
+                part.Shape.PathCurve = (byte)Extrusion.Flexible;
+            }
+            else
+            {
+                // Other values not set, they do not seem to be sent to the viewer
+                // Setting PathCurve appears to be what actually toggles the check box and turns Flexi on and off
+                part.Shape.PathCurve = (byte)Extrusion.Straight;
+                part.Shape.FlexiEntry = false;
             }
+            part.ParentGroup.HasGroupChanged = true;
+            part.ScheduleFullUpdate();
         }
 
         /// <summary>
@@ -1996,7 +1963,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
             UUID textureID = new UUID();
 
-                    textureID = InventoryKey(texture, (int)AssetType.Texture);
+                    textureID = ScriptUtils.GetAssetIdFromItemName(m_host, texture, (int)AssetType.Texture);
                     if (textureID == UUID.Zero)
                     {
                             if (!UUID.TryParse(texture, out textureID))
@@ -2712,7 +2679,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if (m_SoundModule != null)
             {
                 m_SoundModule.SendSound(m_host.UUID,
-                        KeyOrName(sound, AssetType.Sound), volume, false, 0,
+                        ScriptUtils.GetAssetIdFromKeyOrItemName(m_host, sound, AssetType.Sound), volume, false, 0,
                         0, false, false);
             }
         }
@@ -2722,7 +2689,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
             if (m_SoundModule != null)
             {
-                m_SoundModule.LoopSound(m_host.UUID, KeyOrName(sound),
+                m_SoundModule.LoopSound(m_host.UUID, ScriptUtils.GetAssetIdFromKeyOrItemName(m_host, sound),
                         volume, 20, false);
             }
         }
@@ -2732,7 +2699,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
             if (m_SoundModule != null)
             {
-                m_SoundModule.LoopSound(m_host.UUID, KeyOrName(sound),
+                m_SoundModule.LoopSound(m_host.UUID, ScriptUtils.GetAssetIdFromKeyOrItemName(m_host, sound),
                         volume, 20, true);
             }
         }
@@ -2754,7 +2721,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if (m_SoundModule != null)
             {
                 m_SoundModule.SendSound(m_host.UUID,
-                        KeyOrName(sound, AssetType.Sound), volume, false, 0,
+                        ScriptUtils.GetAssetIdFromKeyOrItemName(m_host, sound, AssetType.Sound), volume, false, 0,
                         0, true, false);
             }
         }
@@ -2766,7 +2733,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if (m_SoundModule != null)
             {
                 m_SoundModule.SendSound(m_host.UUID,
-                        KeyOrName(sound, AssetType.Sound), volume, true, 0, 0,
+                        ScriptUtils.GetAssetIdFromKeyOrItemName(m_host, sound, AssetType.Sound), volume, true, 0, 0,
                         false, false);
             }
         }
@@ -2783,7 +2750,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
             m_host.AddScriptLPS(1);
             if (m_SoundModule != null)
-                m_SoundModule.PreloadSound(m_host.UUID, KeyOrName(sound), 0);
+                m_SoundModule.PreloadSound(m_host.UUID, ScriptUtils.GetAssetIdFromKeyOrItemName(m_host, sound), 0);
             ScriptSleep(1000);
         }
 
@@ -3141,11 +3108,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                 PhysicsActor pa = new_group.RootPart.PhysActor;
 
+                //Recoil.
                 if (pa != null && pa.IsPhysical && (Vector3)vel != Vector3.Zero)
                 {
                     float groupmass = new_group.GetMass();
-                    vel *= -groupmass;
-                    llApplyImpulse(vel, 0);
+                    Vector3 recoil = -vel * groupmass * m_recoilScaleFactor;
+                    if (recoil != Vector3.Zero)
+                    {
+                        llApplyImpulse(recoil, 0);
+                    }
                 }
                 // Variable script delay? (see (http://wiki.secondlife.com/wiki/LSL_Delay)
                 return;
@@ -3220,7 +3191,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         {
 //            m_log.Info("llSleep snoozing " + sec + "s.");
             m_host.AddScriptLPS(1);
-            Thread.Sleep((int)(sec * 1000));
+
+            Sleep((int)(sec * 1000));
         }
 
         public LSL_Float llGetMass()
@@ -3322,7 +3294,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         /// <summary>
         /// Attach the object containing this script to the avatar that owns it.
         /// </summary>
-        /// <param name='attachment'>The attachment point (e.g. ATTACH_CHEST)</param>
+        /// <param name='attachmentPoint'>
+        /// The attachment point (e.g. <see cref="OpenSim.Region.ScriptEngine.Shared.ScriptBase.ScriptBaseClass.ATTACH_CHEST">ATTACH_CHEST</see>)
+        /// </param>
         /// <returns>true if the attach suceeded, false if it did not</returns>
         public bool AttachToAvatar(int attachmentPoint)
         {
@@ -3653,7 +3627,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 if (presence != null)
                 {
                     // Do NOT try to parse UUID, animations cannot be triggered by ID
-                    UUID animID = InventoryKey(anim, (int)AssetType.Animation);
+                    UUID animID = ScriptUtils.GetAssetIdFromItemName(m_host, anim, (int)AssetType.Animation);
                     if (animID == UUID.Zero)
                         presence.Animator.AddAnimation(anim, m_host.UUID);
                     else
@@ -3675,12 +3649,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                 if (presence != null)
                 {
-                    UUID animID = KeyOrName(anim);
+                    UUID animID = ScriptUtils.GetAssetIdFromKeyOrItemName(m_host, anim);
 
                     if (animID == UUID.Zero)
                         presence.Animator.RemoveAnimation(anim);
                     else
-                        presence.Animator.RemoveAnimation(animID);
+                        presence.Animator.RemoveAnimation(animID, true);
                 }
             }
         }
@@ -3753,21 +3727,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
             else
             {
-                bool sitting = false;
-                if (m_host.SitTargetAvatar == agentID)
-                {
-                    sitting = true;
-                }
-                else
-                {
-                    foreach (SceneObjectPart p in m_host.ParentGroup.Parts)
-                    {
-                        if (p.SitTargetAvatar == agentID)
-                            sitting = true;
-                    }
-                }
-
-                if (sitting)
+                if (m_host.ParentGroup.GetSittingAvatars().Contains(agentID))
                 {
                     // When agent is sitting, certain permissions are implicit if requested from sitting agent
                     implicitPerms = ScriptBaseClass.PERMISSION_TRIGGER_ANIMATION |
@@ -3809,7 +3769,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 INPCModule npcModule = World.RequestModuleInterface<INPCModule>();
                 if (npcModule != null && npcModule.IsNPC(agentID, World))
                 {
-                    if (agentID == m_host.ParentGroup.OwnerID || npcModule.GetOwner(agentID) == m_host.ParentGroup.OwnerID)
+                    if (npcModule.CheckPermissions(agentID, m_host.OwnerID))
                     {
                         lock (m_host.TaskInventory)
                         {
@@ -4184,62 +4144,56 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_String llGetLinkName(int linknum)
         {
             m_host.AddScriptLPS(1);
-            // simplest case, this prims link number
-            if (linknum == m_host.LinkNum || linknum == ScriptBaseClass.LINK_THIS)
-                return m_host.Name;
 
-            // parse for sitting avatare-names
-            List<String> nametable = new List<String>();
-            World.ForEachRootScenePresence(delegate(ScenePresence presence)
+            if (linknum < 0)
             {
-                SceneObjectPart sitPart = presence.ParentPart;
-                if (sitPart != null && m_host.ParentGroup.ContainsPart(sitPart.LocalId))
-                    nametable.Add(presence.ControllingClient.Name);
-            });
-
-            int totalprims = m_host.ParentGroup.PrimCount + nametable.Count;
-            if (totalprims > m_host.ParentGroup.PrimCount)
-            {
-                // sitting Avatar-Name with negativ linknum / SinglePrim
-                if (linknum < 0 && m_host.ParentGroup.PrimCount == 1 && nametable.Count == 1)
-                    return nametable[0];
-                // Prim-Name / SinglePrim Sitting Avatar
-                if (linknum == 1 && m_host.ParentGroup.PrimCount == 1 && nametable.Count == 1)
+                if (linknum == ScriptBaseClass.LINK_THIS)
                     return m_host.Name;
-                // LinkNumber > of Real PrimSet = AvatarName
-                if (linknum > m_host.ParentGroup.PrimCount && linknum <= totalprims)
-                    return nametable[totalprims - linknum];
+                else
+                    return ScriptBaseClass.NULL_KEY;
             }
 
-            // Single prim
-            if (m_host.LinkNum == 0)
+            int actualPrimCount = m_host.ParentGroup.PrimCount;
+            List<UUID> sittingAvatarIds = m_host.ParentGroup.GetSittingAvatars();
+            int adjustedPrimCount = actualPrimCount + sittingAvatarIds.Count;
+
+            // Special case for a single prim.  In this case the linknum is zero.  However, this will not match a single
+            // prim that has any avatars sat upon it (in which case the root prim is link 1).
+            if (linknum == 0)
             {
-                if (linknum == 0 || linknum == ScriptBaseClass.LINK_ROOT)
+                if (actualPrimCount == 1 && sittingAvatarIds.Count == 0)
                     return m_host.Name;
-                else
-                    return UUID.Zero.ToString();
-            }
 
-            // Link set
-            SceneObjectPart part = null;
-            if (m_host.LinkNum == 1) // this is the Root prim
+                return ScriptBaseClass.NULL_KEY;
+            }
+            // Special case to handle a single prim with sitting avatars.  GetLinkPart() would only match zero but
+            // here we must match 1 (ScriptBaseClass.LINK_ROOT).
+            else if (linknum == 1 && actualPrimCount == 1)
             {
-                if (linknum < 0)
-                    part = m_host.ParentGroup.GetLinkNumPart(2);
+                if (sittingAvatarIds.Count > 0)
+                    return m_host.ParentGroup.RootPart.Name;
                 else
-                    part = m_host.ParentGroup.GetLinkNumPart(linknum);
+                    return ScriptBaseClass.NULL_KEY;
             }
-            else // this is a child prim
+            else if (linknum <= adjustedPrimCount)
             {
-                if (linknum < 2)
-                    part = m_host.ParentGroup.GetLinkNumPart(1);
+                if (linknum <= actualPrimCount)
+                {
+                    return m_host.ParentGroup.GetLinkNumPart(linknum).Name;
+                }
                 else
-                    part = m_host.ParentGroup.GetLinkNumPart(linknum);
+                {
+                    ScenePresence sp = World.GetScenePresence(sittingAvatarIds[linknum - actualPrimCount - 1]);
+                    if (sp != null)
+                        return sp.Name;
+                    else
+                        return ScriptBaseClass.NULL_KEY;
+                }
             }
-            if (part != null)
-                return part.Name;
             else
-                return UUID.Zero.ToString();
+            {
+                return ScriptBaseClass.NULL_KEY;
+            }
         }
 
         public LSL_Integer llGetInventoryNumber(int type)
@@ -4691,7 +4645,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         private void DoLLTeleport(ScenePresence sp, string destination, Vector3 targetPos, Vector3 targetLookAt)
         {
-            UUID assetID = KeyOrName(destination);
+            UUID assetID = ScriptUtils.GetAssetIdFromKeyOrItemName(m_host, destination);
 
             // The destinaion is not an asset ID and also doesn't name a landmark.
             // Use it as a sim name
@@ -4764,7 +4718,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 return;
             }
             // TODO: Parameter check logic required.
-            m_host.CollisionSound = KeyOrName(impact_sound, AssetType.Sound);
+            m_host.CollisionSound = ScriptUtils.GetAssetIdFromKeyOrItemName(m_host, impact_sound, AssetType.Sound);
             m_host.CollisionSoundVolume = (float)impact_volume;
             m_host.CollisionSoundType = 1;
         }
@@ -4934,6 +4888,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     }
                 }
             }
+
             if (pushAllowed)
             {
                 float distance = (PusheePos - m_host.AbsolutePosition).Length();
@@ -4963,17 +4918,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     applied_linear_impulse *= scaling_factor;
 
                 }
+
                 if (pusheeIsAvatar)
                 {
                     if (pusheeav != null)
                     {
-                        if (pusheeav.PhysicsActor != null)
+                        PhysicsActor pa = pusheeav.PhysicsActor;
+
+                        if (pa != null)
                         {
                             if (local != 0)
                             {
                                 applied_linear_impulse *= m_host.GetWorldRotation();
                             }
-                            pusheeav.PhysicsActor.AddForce(applied_linear_impulse, true);
+
+                            pa.AddForce(applied_linear_impulse, true);
                         }
                     }
                 }
@@ -5851,9 +5810,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         }
 
         /// <summary>
-        /// Insert the list identified by <src> into the
-        /// list designated by <dest> such that the first
-        /// new element has the index specified by <index>
+        /// Insert the list identified by <paramref name="src"/> into the
+        /// list designated by <paramref name="dest"/> such that the first
+        /// new element has the index specified by <paramref name="index"/>
         /// </summary>
 
         public LSL_List llListInsertList(LSL_List dest, LSL_List src, int index)
@@ -6219,13 +6178,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                                 if (parcelOwned && land.LandData.OwnerID == id ||
                                     parcel && land.LandData.GlobalID == id)
                                 {
-                                    result.Add(ssp.UUID.ToString());
+                                    result.Add(new LSL_Key(ssp.UUID.ToString()));
                                 }
                             }
                         }
                         else
                         {
-                            result.Add(ssp.UUID.ToString());
+                            result.Add(new LSL_Key(ssp.UUID.ToString()));
                         }
                     }
                     // Maximum of 100 results
@@ -6329,7 +6288,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if (m_SoundModule != null)
             {
                 m_SoundModule.TriggerSoundLimited(m_host.UUID,
-                        KeyOrName(sound, AssetType.Sound), volume,
+                        ScriptUtils.GetAssetIdFromKeyOrItemName(m_host, sound, AssetType.Sound), volume,
                         bottom_south_west, top_north_east);
             }
         }
@@ -6686,6 +6645,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             ps.BurstSpeedMax = 1.0f;
             ps.BurstRate = 0.1f;
             ps.PartMaxAge = 10.0f;
+            ps.BurstPartCount = 1;
             return ps;
         }
 
@@ -6707,10 +6667,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             SetParticleSystem(m_host, rules);
         }
 
-        private void SetParticleSystem(SceneObjectPart part, LSL_List rules)
+        private void SetParticleSystem(SceneObjectPart part, LSL_List rules) 
         {
-
-
             if (rules.Length == 0)
             {
                 part.RemoveParticleSystem();
@@ -6801,7 +6759,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                             break;
 
                         case (int)ScriptBaseClass.PSYS_SRC_TEXTURE:
-                            prules.Texture = KeyOrName(rules.GetLSLStringItem(i + 1));
+                            prules.Texture = ScriptUtils.GetAssetIdFromKeyOrItemName(m_host, rules.GetLSLStringItem(i + 1));
                             break;
 
                         case (int)ScriptBaseClass.PSYS_SRC_BURST_RATE:
@@ -7373,6 +7331,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public void llCloseRemoteDataChannel(string channel)
         {
             m_host.AddScriptLPS(1);
+
+            IXmlRpcRouter xmlRpcRouter = m_ScriptEngine.World.RequestModuleInterface<IXmlRpcRouter>();
+            if (xmlRpcRouter != null)
+            {
+                xmlRpcRouter.UnRegisterReceiver(channel, m_item.ItemID);
+            }
+
             IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>();
             if (xmlrpcMod != null)
                 xmlrpcMod.CloseXMLRPCChannel((UUID)channel);
@@ -7746,9 +7711,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             UUID sculptId;
 
             if (!UUID.TryParse(map, out sculptId))
-            {
-                sculptId = InventoryKey(map, (int)AssetType.Texture);
-            }
+                sculptId = ScriptUtils.GetAssetIdFromItemName(m_host, map, (int)AssetType.Texture);
 
             if (sculptId == UUID.Zero)
                 return;
@@ -11519,6 +11482,35 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                             case ScriptBaseClass.OBJECT_PHYSICS_COST:
                                 ret.Add(new LSL_Float(0));
                                 break;
+                            case ScriptBaseClass.OBJECT_CHARACTER_TIME: // Pathfinding
+                                ret.Add(new LSL_Float(0));
+                                break;
+                            case ScriptBaseClass.OBJECT_ROOT:
+                                SceneObjectPart p = av.ParentPart;
+                                if (p != null)
+                                {
+                                    ret.Add(new LSL_String(p.ParentGroup.RootPart.UUID.ToString()));
+                                }
+                                else
+                                {
+                                    ret.Add(new LSL_String(id));
+                                }
+                                break;
+                            case ScriptBaseClass.OBJECT_ATTACHED_POINT:
+                                ret.Add(new LSL_Integer(0));
+                                break;
+                            case ScriptBaseClass.OBJECT_PATHFINDING_TYPE: // Pathfinding
+                                ret.Add(new LSL_Integer(ScriptBaseClass.OPT_AVATAR));
+                                break;
+                            case ScriptBaseClass.OBJECT_PHYSICS:
+                                ret.Add(new LSL_Integer(0));
+                                break;
+                            case ScriptBaseClass.OBJECT_PHANTOM:
+                                ret.Add(new LSL_Integer(0));
+                                break;
+                            case ScriptBaseClass.OBJECT_TEMP_ON_REZ:
+                                ret.Add(new LSL_Integer(0));
+                                break;
                             default:
                                 // Invalid or unhandled constant.
                                 ret.Add(new LSL_Integer(ScriptBaseClass.OBJECT_UNKNOWN_DETAIL));
@@ -11610,6 +11602,52 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                                 // The value returned in SL for normal prims is prim count
                                 ret.Add(new LSL_Float(obj.PhysicsCost));
                                 break;
+                            case ScriptBaseClass.OBJECT_CHARACTER_TIME: // Pathfinding
+                                ret.Add(new LSL_Float(0));
+                                break;
+                            case ScriptBaseClass.OBJECT_ROOT:
+                                ret.Add(new LSL_String(obj.ParentGroup.RootPart.UUID.ToString()));
+                                break;
+                            case ScriptBaseClass.OBJECT_ATTACHED_POINT:
+                                ret.Add(new LSL_Integer(obj.ParentGroup.AttachmentPoint));
+                                break;
+                            case ScriptBaseClass.OBJECT_PATHFINDING_TYPE:
+                                byte pcode = obj.Shape.PCode;
+                                if (obj.ParentGroup.AttachmentPoint != 0
+                                   || pcode == (byte)PCode.Grass
+                                   || pcode == (byte)PCode.Tree
+                                   || pcode == (byte)PCode.NewTree)
+                                {
+                                    ret.Add(new LSL_Integer(ScriptBaseClass.OPT_OTHER));
+                                }
+                                else
+                                {
+                                    ret.Add(new LSL_Integer(ScriptBaseClass.OPT_LEGACY_LINKSET));
+                                }
+                                break;
+                            case ScriptBaseClass.OBJECT_PHYSICS:
+                                if (obj.ParentGroup.AttachmentPoint != 0)
+                                {
+                                    ret.Add(new LSL_Integer(0)); // Always false if attached
+                                }
+                                else
+                                {
+                                    ret.Add(new LSL_Integer(obj.ParentGroup.UsesPhysics ? 1 : 0));
+                                }
+                                break;
+                            case ScriptBaseClass.OBJECT_PHANTOM:
+                                if (obj.ParentGroup.AttachmentPoint != 0)
+                                {
+                                    ret.Add(new LSL_Integer(0)); // Always false if attached
+                                }
+                                else
+                                {
+                                    ret.Add(new LSL_Integer(obj.ParentGroup.IsPhantom ? 1 : 0));
+                                }
+                                break;
+                            case ScriptBaseClass.OBJECT_TEMP_ON_REZ:
+                                ret.Add(new LSL_Integer(obj.ParentGroup.IsTemporary ? 1 : 0));
+                                break;
                             default:
                                 // Invalid or unhandled constant.
                                 ret.Add(new LSL_Integer(ScriptBaseClass.OBJECT_UNKNOWN_DETAIL));
@@ -11993,12 +12031,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     radius = Math.Abs(maxY);
                 if (Math.Abs(maxZ) > radius)
                     radius = Math.Abs(maxZ);
-
+                radius = radius*1.413f;
                 Vector3 ac = group.AbsolutePosition - rayStart;
                 Vector3 bc = group.AbsolutePosition - rayEnd;
 
                 double d = Math.Abs(Vector3.Mag(Vector3.Cross(ab, ac)) / Vector3.Distance(rayStart, rayEnd));
-
+                
                 // Too far off ray, don't bother
                 if (d > radius)
                     return;
@@ -12008,11 +12046,20 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 if (d2 > 0)
                     return;
 
+                ray = new Ray(rayStart, Vector3.Normalize(rayEnd - rayStart));
                 EntityIntersection intersection = group.TestIntersection(ray, true, false);
                 // Miss.
                 if (!intersection.HitTF)
                     return;
 
+                Vector3 b1 = group.AbsolutePosition + new Vector3(minX, minY, minZ);
+                Vector3 b2 = group.AbsolutePosition + new Vector3(maxX, maxY, maxZ);
+                //m_log.DebugFormat("[LLCASTRAY]: min<{0},{1},{2}>, max<{3},{4},{5}> = hitp<{6},{7},{8}>", b1.X,b1.Y,b1.Z,b2.X,b2.Y,b2.Z,intersection.ipoint.X,intersection.ipoint.Y,intersection.ipoint.Z);
+                if (!(intersection.ipoint.X >= b1.X && intersection.ipoint.X <= b2.X &&
+                    intersection.ipoint.Y >= b1.Y && intersection.ipoint.Y <= b2.Y &&
+                    intersection.ipoint.Z >= b1.Z && intersection.ipoint.Z <= b2.Z))
+                    return;
+
                 ContactResult result = new ContactResult ();
                 result.ConsumerID = group.LocalId;
 //                result.Depth = intersection.distance;
@@ -12228,7 +12275,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 if (checkNonPhysical)
                     rayfilter |= RayFilterFlags.nonphysical;
                 if (detectPhantom)
-                    rayfilter |= RayFilterFlags.LSLPhanton;
+                    rayfilter |= RayFilterFlags.LSLPhantom;
 
                 Vector3 direction = dir * ( 1/dist);
 
@@ -12286,8 +12333,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 if (checkPhysical || checkNonPhysical || detectPhantom)
                 {
                     ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, checkPhysical, checkNonPhysical, detectPhantom);
-                    foreach (ContactResult r in objectHits)
-                        results.Add(r);
+                    for (int iter = 0; iter < objectHits.Length; iter++)
+                    {
+                        // Redistance the Depth because the Scene RayCaster returns distance from center to make the rezzing code simpler.
+                        objectHits[iter].Depth = Vector3.Distance(objectHits[iter].Pos, rayStart);
+                        results.Add(objectHits[iter]);
+                    }
                 }
             }
 
@@ -13273,7 +13324,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         /// Get a notecard line.
         /// </summary>
         /// <param name="assetID"></param>
-        /// <param name="line">Lines start at index 0</param>
+        /// <param name="lineNumber">Lines start at index 0</param>
         /// <returns></returns>
         public static string GetLine(UUID assetID, int lineNumber)
         {
@@ -13302,9 +13353,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         /// Get a notecard line.
         /// </summary>
         /// <param name="assetID"></param>
-        /// <param name="line">Lines start at index 0</param>
-        /// <param name="maxLength">Maximum length of the returned line.  Longer lines will be truncated</para>
-        /// <returns></returns>
+        /// <param name="lineNumber">Lines start at index 0</param>
+        /// <param name="maxLength">
+        /// Maximum length of the returned line.
+        /// </param>
+        /// <returns>
+        /// If the line length is longer than <paramref name="maxLength"/>,
+        /// the return string will be truncated.
+        /// </returns>
         public static string GetLine(UUID assetID, int lineNumber, int maxLength)
         {
             string line = GetLine(assetID, lineNumber);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs
index ceb4660..1d6cb6d 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs
@@ -30,6 +30,7 @@ using System.Reflection;
 using System.Collections;
 using System.Collections.Generic;
 using System.Runtime.Remoting.Lifetime;
+using System.Threading;
 using OpenMetaverse;
 using Nini.Config;
 using OpenSim;
@@ -61,9 +62,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         internal bool m_LSFunctionsEnabled = false;
         internal IScriptModuleComms m_comms = null;
 
-        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item)
+        public void Initialize(
+            IScriptEngine scriptEngine, SceneObjectPart host, TaskInventoryItem item, WaitHandle coopSleepHandle)
         {
-            m_ScriptEngine = ScriptEngine;
+            m_ScriptEngine = scriptEngine;
             m_host = host;
 
             if (m_ScriptEngine.Config.GetBoolean("AllowLightShareFunctions", false))
@@ -92,10 +94,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             get { return m_ScriptEngine.World; }
         }
 
-        //
-        //Dumps an error message on the debug console.
-        //
-
+        /// <summary>
+        /// Dumps an error message on the debug console.
+        /// </summary>
         internal void LSShoutError(string message)
         {
             if (message.Length > 1023)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs
index 8f34833..2fe6948 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs
@@ -29,7 +29,10 @@ using System;
 using System.Reflection;
 using System.Collections;
 using System.Collections.Generic;
+using System.Reflection;
 using System.Runtime.Remoting.Lifetime;
+using System.Threading;
+using log4net;
 using OpenMetaverse;
 using Nini.Config;
 using OpenSim;
@@ -55,15 +58,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
     [Serializable]
     public class MOD_Api : MarshalByRefObject, IMOD_Api, IScriptApi
     {
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
         internal IScriptEngine m_ScriptEngine;
         internal SceneObjectPart m_host;
         internal TaskInventoryItem m_item;
         internal bool m_MODFunctionsEnabled = false;
         internal IScriptModuleComms m_comms = null;
 
-        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item)
+        public void Initialize(
+            IScriptEngine scriptEngine, SceneObjectPart host, TaskInventoryItem item, WaitHandle coopSleepHandle)
         {
-            m_ScriptEngine = ScriptEngine;
+            m_ScriptEngine = scriptEngine;
             m_host = host;
             m_item = item;
 
@@ -107,8 +113,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             if (message.Length > 1023)
                 message = message.Substring(0, 1023);
 
-            World.SimChat(Utils.StringToBytes(message),
-                          ChatTypeEnum.Shout, ScriptBaseClass.DEBUG_CHANNEL, m_host.ParentGroup.RootPart.AbsolutePosition, m_host.Name, m_host.UUID, true);
+            World.SimChat(
+                Utils.StringToBytes(message),
+                ChatTypeEnum.Shout, ScriptBaseClass.DEBUG_CHANNEL, 
+                m_host.ParentGroup.RootPart.AbsolutePosition, m_host.Name, m_host.UUID, false);
 
             IWorldComm wComm = m_ScriptEngine.World.RequestModuleInterface<IWorldComm>();
             wComm.DeliverMessage(ChatTypeEnum.Shout, ScriptBaseClass.DEBUG_CHANNEL, m_host.Name, m_host.UUID, message);
@@ -122,6 +130,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         /// <returns>string result of the invocation</returns>
         public void modInvokeN(string fname, params object[] parms)
         {
+//            m_log.DebugFormat(
+//                "[MOD API]: Invoking dynamic function {0}, args '{1}' with {2} return type", 
+//                fname, 
+//                string.Join(",", Array.ConvertAll<object, string>(parms, o => o.ToString())), 
+//                ((MethodInfo)MethodBase.GetCurrentMethod()).ReturnType);
+
             Type returntype = m_comms.LookupReturnType(fname);
             if (returntype != typeof(string))
                 MODError(String.Format("return type mismatch for {0}",fname));
@@ -131,6 +145,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public LSL_String modInvokeS(string fname, params object[] parms)
         {
+//            m_log.DebugFormat(
+//                "[MOD API]: Invoking dynamic function {0}, args '{1}' with {2} return type", 
+//                fname, 
+//                string.Join(",", Array.ConvertAll<object, string>(parms, o => o.ToString())), 
+//                ((MethodInfo)MethodBase.GetCurrentMethod()).ReturnType);
+
             Type returntype = m_comms.LookupReturnType(fname);
             if (returntype != typeof(string))
                 MODError(String.Format("return type mismatch for {0}",fname));
@@ -141,6 +161,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public LSL_Integer modInvokeI(string fname, params object[] parms)
         {
+//            m_log.DebugFormat(
+//                "[MOD API]: Invoking dynamic function {0}, args '{1}' with {2} return type", 
+//                fname, 
+//                string.Join(",", Array.ConvertAll<object, string>(parms, o => o.ToString())), 
+//                ((MethodInfo)MethodBase.GetCurrentMethod()).ReturnType);
+
             Type returntype = m_comms.LookupReturnType(fname);
             if (returntype != typeof(int))
                 MODError(String.Format("return type mismatch for {0}",fname));
@@ -151,6 +177,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         
         public LSL_Float modInvokeF(string fname, params object[] parms)
         {
+//            m_log.DebugFormat(
+//                "[MOD API]: Invoking dynamic function {0}, args '{1}' with {2} return type", 
+//                fname, 
+//                string.Join(",", Array.ConvertAll<object, string>(parms, o => o.ToString())), 
+//                ((MethodInfo)MethodBase.GetCurrentMethod()).ReturnType);
+
             Type returntype = m_comms.LookupReturnType(fname);
             if (returntype != typeof(float))
                 MODError(String.Format("return type mismatch for {0}",fname));
@@ -161,6 +193,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public LSL_Key modInvokeK(string fname, params object[] parms)
         {
+//            m_log.DebugFormat(
+//                "[MOD API]: Invoking dynamic function {0}, args '{1}' with {2} return type", 
+//                fname, 
+//                string.Join(",", Array.ConvertAll<object, string>(parms, o => o.ToString())), 
+//                ((MethodInfo)MethodBase.GetCurrentMethod()).ReturnType);
+
             Type returntype = m_comms.LookupReturnType(fname);
             if (returntype != typeof(UUID))
                 MODError(String.Format("return type mismatch for {0}",fname));
@@ -171,6 +209,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public LSL_Vector modInvokeV(string fname, params object[] parms)
         {
+//            m_log.DebugFormat(
+//                "[MOD API]: Invoking dynamic function {0}, args '{1}' with {2} return type", 
+//                fname, 
+//                string.Join(",", Array.ConvertAll<object, string>(parms, o => o.ToString())), 
+//                ((MethodInfo)MethodBase.GetCurrentMethod()).ReturnType);
+
             Type returntype = m_comms.LookupReturnType(fname);
             if (returntype != typeof(OpenMetaverse.Vector3))
                 MODError(String.Format("return type mismatch for {0}",fname));
@@ -181,6 +225,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public LSL_Rotation modInvokeR(string fname, params object[] parms)
         {
+//            m_log.DebugFormat(
+//                "[MOD API]: Invoking dynamic function {0}, args '{1}' with {2} return type", 
+//                fname, 
+//                string.Join(",", Array.ConvertAll<object, string>(parms, o => o.ToString())), 
+//                ((MethodInfo)MethodBase.GetCurrentMethod()).ReturnType);
+
             Type returntype = m_comms.LookupReturnType(fname);
             if (returntype != typeof(OpenMetaverse.Quaternion))
                 MODError(String.Format("return type mismatch for {0}",fname));
@@ -191,6 +241,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         public LSL_List modInvokeL(string fname, params object[] parms)
         {
+//            m_log.DebugFormat(
+//                "[MOD API]: Invoking dynamic function {0}, args '{1}' with {2} return type", 
+//                fname, 
+//                string.Join(",", Array.ConvertAll<object, string>(parms, o => o.ToString())), 
+//                ((MethodInfo)MethodBase.GetCurrentMethod()).ReturnType);
+
             Type returntype = m_comms.LookupReturnType(fname);
             if (returntype != typeof(object[]))
                 MODError(String.Format("return type mismatch for {0}",fname));
@@ -248,6 +304,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 return "";
             }
 
+//            m_log.DebugFormat(
+//                "[MOD API]: Invoking dynamic function {0}, args '{1}' with {2} return type", 
+//                fname, 
+//                string.Join(",", Array.ConvertAll<object, string>(parms, o => o.ToString())), 
+//                ((MethodInfo)MethodBase.GetCurrentMethod()).ReturnType);
+
             Type[] signature = m_comms.LookupTypeSignature(fname);
             if (signature.Length != parms.Length)
                 MODError(String.Format("wrong number of parameters to function {0}",fname));
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
index 7c2f8ed..6ff6b00 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
@@ -143,9 +143,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         protected IUrlModule m_UrlModule = null;
 
-        public void Initialize(IScriptEngine ScriptEngine, SceneObjectPart host, TaskInventoryItem item)
+        public void Initialize(
+            IScriptEngine scriptEngine, SceneObjectPart host, TaskInventoryItem item, WaitHandle coopSleepHandle)
         {
-            m_ScriptEngine = ScriptEngine;
+            m_ScriptEngine = scriptEngine;
             m_host = host;
             m_item = item;
             m_debuggerSafe = m_ScriptEngine.Config.GetBoolean("DebuggerSafe", false);
@@ -254,11 +255,23 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             wComm.DeliverMessage(ChatTypeEnum.Shout, ScriptBaseClass.DEBUG_CHANNEL, m_host.Name, m_host.UUID, message);
         }
 
+        // Returns of the function is allowed. Throws a script exception if not allowed.
         public void CheckThreatLevel(ThreatLevel level, string function)
         {
             if (!m_OSFunctionsEnabled)
                 OSSLError(String.Format("{0} permission denied.  All OS functions are disabled.", function)); // throws
 
+            string reasonWhyNot = CheckThreatLevelTest(level, function);
+            if (!String.IsNullOrEmpty(reasonWhyNot))
+            {
+                OSSLError(reasonWhyNot);
+            }
+        }
+
+        // Check to see if function is allowed. Returns an empty string if function permitted
+        //     or a string explaining why this function can't be used.
+        private string CheckThreatLevelTest(ThreatLevel level, string function)
+        {
             if (!m_FunctionPerms.ContainsKey(function))
             {
                 FunctionPerms perms = new FunctionPerms();
@@ -338,10 +351,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             {
                 // Allow / disallow by threat level
                 if (level > m_MaxThreatLevel)
-                    OSSLError(
+                    return
                         String.Format(
                             "{0} permission denied.  Allowed threat level is {1} but function threat level is {2}.",
-                            function, m_MaxThreatLevel, level));
+                            function, m_MaxThreatLevel, level);
             }
             else
             {
@@ -351,7 +364,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     if (m_FunctionPerms[function].AllowedOwners.Contains(m_host.OwnerID))
                     {
                         // prim owner is in the list of allowed owners
-                        return;
+                        return String.Empty;
                     }
 
                     UUID ownerID = m_item.OwnerID;
@@ -363,7 +376,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                         if (land.LandData.GroupID == m_item.GroupID && land.LandData.GroupID != UUID.Zero)
                         {
-                            return;
+                            return String.Empty;
                         }
                     }
 
@@ -374,7 +387,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                         if (land.LandData.OwnerID == ownerID)
                         {
-                            return;
+                            return String.Empty;
                         }
                     }
 
@@ -384,7 +397,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         //Only Estate Managers may use the function
                         if (World.RegionInfo.EstateSettings.IsEstateManagerOrOwner(ownerID) && World.RegionInfo.EstateSettings.EstateOwner != ownerID)
                         {
-                            return;
+                            return String.Empty;
                         }
                     }
 
@@ -393,25 +406,24 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     {
                         if (World.RegionInfo.EstateSettings.EstateOwner == ownerID)
                         {
-                            return;
+                            return String.Empty;
                         }
                     }
 
                     if (!m_FunctionPerms[function].AllowedCreators.Contains(m_item.CreatorID))
-                        OSSLError(
+                        return(
                             String.Format("{0} permission denied. Script creator is not in the list of users allowed to execute this function and prim owner also has no permission.",
                             function));
 
                     if (m_item.CreatorID != ownerID)
                     {
                         if ((m_item.CurrentPermissions & (uint)PermissionMask.Modify) != 0)
-                            OSSLError(
-                                String.Format("{0} permission denied. Script permissions error.",
-                                function));
+                            return String.Format("{0} permission denied. Script permissions error.", function);
 
                     }
                 }
             }
+            return String.Empty;
         }
 
         internal void OSSLDeprecated(string function, string replacement)
@@ -983,7 +995,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     if (animID == UUID.Zero)
                         target.Animator.RemoveAnimation(animation);
                     else
-                        target.Animator.RemoveAnimation(animID);
+                        target.Animator.RemoveAnimation(animID, true);
                 }
             }
         }
@@ -1214,12 +1226,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                 sunHour += 24.0;
 
             World.RegionInfo.RegionSettings.UseEstateSun = useEstateSun;
-            World.RegionInfo.RegionSettings.SunPosition  = sunHour + 6; // LL Region Sun Hour is 6 to 30
-            World.RegionInfo.RegionSettings.FixedSun     = sunFixed;
+            World.RegionInfo.RegionSettings.SunPosition = sunHour + 6; // LL Region Sun Hour is 6 to 30
+            World.RegionInfo.RegionSettings.FixedSun = sunFixed;
             World.RegionInfo.RegionSettings.Save();
 
-            World.EventManager.TriggerEstateToolsSunUpdate(
-                World.RegionInfo.RegionHandle, sunFixed, useEstateSun, (float)sunHour);
+            World.EventManager.TriggerEstateToolsSunUpdate(World.RegionInfo.RegionHandle);
         }
 
         /// <summary>
@@ -1244,8 +1255,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             World.RegionInfo.EstateSettings.FixedSun = sunFixed;
             World.RegionInfo.EstateSettings.Save();
 
-            World.EventManager.TriggerEstateToolsSunUpdate(
-                World.RegionInfo.RegionHandle, sunFixed, World.RegionInfo.RegionSettings.UseEstateSun, (float)sunHour);
+            World.EventManager.TriggerEstateToolsSunUpdate(World.RegionInfo.RegionHandle);
         }
 
         /// <summary>
@@ -1569,6 +1579,32 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             }
         }
 
+        public string osGetPhysicsEngineType()
+        {
+            // High because it can be used to target attacks to known weaknesses
+            // This would allow a new class of griefer scripts that don't even
+            // require their user to know what they are doing (see script
+            // kiddie)
+            // Because it would be nice if scripts didn't blow up if the information
+            //    about the physics engine, this function returns an empty string if
+            //    the user does not have permission to see it. This as opposed to
+            //    throwing an exception.
+            m_host.AddScriptLPS(1);
+            string ret = String.Empty;
+            if (String.IsNullOrEmpty(CheckThreatLevelTest(ThreatLevel.High, "osGetPhysicsEngineType")))
+            {
+                if (m_ScriptEngine.World.PhysicsScene != null)
+                {
+                    ret = m_ScriptEngine.World.PhysicsScene.EngineType;
+                    // An old physics engine might have an uninitialized engine type
+                    if (ret == null)
+                        ret = "unknown";
+                }
+            }
+
+            return ret;
+        }
+
         public string osGetSimulatorVersion()
         {
             // High because it can be used to target attacks to known weaknesses
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
index 4dd795d..d3ef378 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
@@ -42,6 +42,29 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
     {
 //        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
+        /// <summary>
+        /// Used by one-off and repeated sensors
+        /// </summary>
+        public class SensorInfo
+        {
+            public uint localID;
+            public UUID itemID;
+            public double interval;
+            public DateTime next;
+
+            public string name;
+            public UUID keyID;
+            public int type;
+            public double range;
+            public double arc;
+            public SceneObjectPart host;
+
+            public SensorInfo Clone()
+            {
+                return (SensorInfo)this.MemberwiseClone();
+            }
+        }
+
         public AsyncCommandManager m_CmdManager;
 
         /// <summary>
@@ -78,24 +101,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
         private int maximumToReturn = 16;
 
         //
-        // SenseRepeater and Sensors
-        //
-        private class SenseRepeatClass
-        {
-            public uint localID;
-            public UUID itemID;
-            public double interval;
-            public DateTime next;
-
-            public string name;
-            public UUID keyID;
-            public int type;
-            public double range;
-            public double arc;
-            public SceneObjectPart host;
-        }
-
-        //
         // Sensed entity
         //
         private class SensedEntity : IComparable
@@ -127,7 +132,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
         ///
         /// Always lock SenseRepeatListLock when updating this list.
         /// </remarks>
-        private List<SenseRepeatClass> SenseRepeaters = new List<SenseRepeatClass>();
+        private List<SensorInfo> SenseRepeaters = new List<SensorInfo>();
         private object SenseRepeatListLock = new object();
 
         public void SetSenseRepeatEvent(uint m_localID, UUID m_itemID,
@@ -141,7 +146,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                 return;
 
             // Add to timer
-            SenseRepeatClass ts = new SenseRepeatClass();
+            SensorInfo ts = new SensorInfo();
             ts.localID = m_localID;
             ts.itemID = m_itemID;
             ts.interval = sec;
@@ -160,11 +165,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             AddSenseRepeater(ts);
         }
 
-        private void AddSenseRepeater(SenseRepeatClass senseRepeater)
+        private void AddSenseRepeater(SensorInfo senseRepeater)
         {
             lock (SenseRepeatListLock)
             {
-                List<SenseRepeatClass> newSenseRepeaters = new List<SenseRepeatClass>(SenseRepeaters);
+                List<SensorInfo> newSenseRepeaters = new List<SensorInfo>(SenseRepeaters);
                 newSenseRepeaters.Add(senseRepeater);
                 SenseRepeaters = newSenseRepeaters;
             }
@@ -175,8 +180,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             // Remove from timer
             lock (SenseRepeatListLock)
             {
-                List<SenseRepeatClass> newSenseRepeaters = new List<SenseRepeatClass>();
-                foreach (SenseRepeatClass ts in SenseRepeaters)
+                List<SensorInfo> newSenseRepeaters = new List<SensorInfo>();
+                foreach (SensorInfo ts in SenseRepeaters)
                 {
                     if (ts.localID != m_localID || ts.itemID != m_itemID)
                     {
@@ -191,7 +196,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
         public void CheckSenseRepeaterEvents()
         {
             // Go through all timers
-            foreach (SenseRepeatClass ts in SenseRepeaters)
+            foreach (SensorInfo ts in SenseRepeaters)
             {
                 // Time has passed?
                 if (ts.next.ToUniversalTime() < DateTime.Now.ToUniversalTime())
@@ -208,7 +213,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                               double range, double arc, SceneObjectPart host)
         {
             // Add to timer
-            SenseRepeatClass ts = new SenseRepeatClass();
+            SensorInfo ts = new SensorInfo();
             ts.localID = m_localID;
             ts.itemID = m_itemID;
             ts.interval = 0;
@@ -224,7 +229,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             SensorSweep(ts);
         }
 
-        private void SensorSweep(SenseRepeatClass ts)
+        private void SensorSweep(SensorInfo ts)
         {
             if (ts.host == null)
             {
@@ -300,7 +305,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             }
         }
 
-        private List<SensedEntity> doObjectSensor(SenseRepeatClass ts)
+        private List<SensedEntity> doObjectSensor(SensorInfo ts)
         {
             List<EntityBase> Entities;
             List<SensedEntity> sensedEntities = new List<SensedEntity>();
@@ -451,7 +456,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             return sensedEntities;
         }
 
-        private List<SensedEntity> doAgentSensor(SenseRepeatClass ts)
+        private List<SensedEntity> doAgentSensor(SensorInfo ts)
         {
             List<SensedEntity> sensedEntities = new List<SensedEntity>();
 
@@ -630,7 +635,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
         {
             List<Object> data = new List<Object>();
 
-            foreach (SenseRepeatClass ts in SenseRepeaters)
+            foreach (SensorInfo ts in SenseRepeaters)
             {
                 if (ts.itemID == itemID)
                 {
@@ -660,7 +665,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
 
             while (idx < data.Length)
             {
-                SenseRepeatClass ts = new SenseRepeatClass();
+                SensorInfo ts = new SensorInfo();
 
                 ts.localID = localID;
                 ts.itemID = itemID;
@@ -681,5 +686,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                 idx += 6;
             }
         }
+
+        public List<SensorInfo> GetSensorInfo()
+        {
+            List<SensorInfo> retList = new List<SensorInfo>();
+
+            lock (SenseRepeatListLock)
+            {
+                foreach (SensorInfo i in SenseRepeaters)
+                    retList.Add(i.Clone());
+            }
+
+            return retList;
+        }           
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs
index 9ee6946..68aacd2 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/Timer.cs
@@ -35,6 +35,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
 {
     public class Timer
     {
+        public class TimerInfo
+        {
+            public uint localID;
+            public UUID itemID;
+            //public double interval;
+            public long interval;
+            //public DateTime next;
+            public long next;
+
+            public TimerInfo Clone()
+            {
+                return (TimerInfo)this.MemberwiseClone();
+            }
+        }
+
         public AsyncCommandManager m_CmdManager;
 
         public int TimersCount
@@ -59,17 +74,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             return localID.ToString() + itemID.ToString();
         }
 
-        private class TimerClass
-        {
-            public uint localID;
-            public UUID itemID;
-            //public double interval;
-            public long interval;
-            //public DateTime next;
-            public long next;
-        }
-
-        private Dictionary<string,TimerClass> Timers = new Dictionary<string,TimerClass>();
+        private Dictionary<string,TimerInfo> Timers = new Dictionary<string,TimerInfo>();
         private object TimerListLock = new object();
 
         public void SetTimerEvent(uint m_localID, UUID m_itemID, double sec)
@@ -81,7 +86,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             }
 
             // Add to timer
-            TimerClass ts = new TimerClass();
+            TimerInfo ts = new TimerInfo();
             ts.localID = m_localID;
             ts.itemID = m_itemID;
             ts.interval = Convert.ToInt64(sec * 10000000); // How many 100 nanoseconds (ticks) should we wait
@@ -118,14 +123,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
             if (Timers.Count == 0)
                 return;
 
-            Dictionary<string, TimerClass>.ValueCollection tvals;
+            Dictionary<string, TimerInfo>.ValueCollection tvals;
             lock (TimerListLock)
             {
                 // Go through all timers
                 tvals = Timers.Values;
             }
 
-            foreach (TimerClass ts in tvals)
+            foreach (TimerInfo ts in tvals)
             {
                 // Time has passed?
                 if (ts.next < DateTime.Now.Ticks)
@@ -149,8 +154,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
 
             lock (TimerListLock)
             {
-                Dictionary<string, TimerClass>.ValueCollection tvals = Timers.Values;
-                foreach (TimerClass ts in tvals)
+                Dictionary<string, TimerInfo>.ValueCollection tvals = Timers.Values;
+                foreach (TimerInfo ts in tvals)
                 {
                     if (ts.itemID == itemID)
                     {
@@ -169,7 +174,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
 
             while (idx < data.Length)
             {
-                TimerClass ts = new TimerClass();
+                TimerInfo ts = new TimerInfo();
 
                 ts.localID = localID;
                 ts.itemID = itemID;
@@ -183,5 +188,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                 }
             }
         }
+
+        public List<TimerInfo> GetTimersInfo()
+        {
+            List<TimerInfo> retList = new List<TimerInfo>();
+
+            lock (TimerListLock)
+            {
+                foreach (TimerInfo i in Timers.Values)
+                    retList.Add(i.Clone());
+            }
+
+            return retList;
+        }  
     }
 }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Properties/AssemblyInfo.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Properties/AssemblyInfo.cs
index d173db0..3c01eec 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
index c447d1f..7eb347e 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
@@ -259,6 +259,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
 
         string osGetScriptEngineName();
         string osGetSimulatorVersion();
+        string osGetPhysicsEngineType();
         Object osParseJSONNew(string JSON);
         Hashtable osParseJSON(string JSON);
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
index 0dd5a57..da3b31f 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
@@ -557,6 +557,23 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
         public const int OBJECT_SERVER_COST = 14;
         public const int OBJECT_STREAMING_COST = 15;
         public const int OBJECT_PHYSICS_COST = 16;
+        public const int OBJECT_CHARACTER_TIME = 17;
+        public const int OBJECT_ROOT = 18;
+        public const int OBJECT_ATTACHED_POINT = 19;
+        public const int OBJECT_PATHFINDING_TYPE = 20;
+        public const int OBJECT_PHYSICS = 21;
+        public const int OBJECT_PHANTOM = 22;
+        public const int OBJECT_TEMP_ON_REZ = 23;
+
+        // Pathfinding types
+        public const int OPT_OTHER = -1;
+        public const int OPT_LEGACY_LINKSET = 0;
+        public const int OPT_AVATAR = 1;
+        public const int OPT_CHARACTER = 2;
+        public const int OPT_WALKABLE = 3;
+        public const int OPT_STATIC_OBSTACLE = 4;
+        public const int OPT_MATERIAL_VOLUME = 5;
+        public const int OPT_EXCLUSION_VOLUME = 6;
 
         // for llGetAgentList
         public const int AGENT_LIST_PARCEL = 1;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs
index afa9ae0..c9902e4 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs
@@ -420,6 +420,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
             return m_OSSL_Functions.osGetScriptEngineName();
         }
 
+        public string osGetPhysicsEngineType()
+        {
+            return m_OSSL_Functions.osGetPhysicsEngineType();
+        }
+
         public string osGetSimulatorVersion()
         {
            return m_OSSL_Functions.osGetSimulatorVersion();
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/Properties/AssemblyInfo.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/Properties/AssemblyInfo.cs
index 573a803..b1825ac 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/YieldProlog/Properties/AssemblyInfo.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/YieldProlog/Properties/AssemblyInfo.cs
index f6d5d41..342dbff 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/YieldProlog/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/YieldProlog/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/ScriptEngine/Shared/CodeTools/CSCodeGenerator.cs b/OpenSim/Region/ScriptEngine/Shared/CodeTools/CSCodeGenerator.cs
index 97dd0f6..9e32f40 100644
--- a/OpenSim/Region/ScriptEngine/Shared/CodeTools/CSCodeGenerator.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/CodeTools/CSCodeGenerator.cs
@@ -31,7 +31,6 @@ using System.Collections.Generic;
 using System.Reflection;
 using log4net;
 using Tools;
-
 using OpenSim.Region.Framework.Interfaces;
 
 namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
@@ -49,6 +48,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
         private List<string> m_warnings = new List<string>();
         private IScriptModuleComms m_comms = null;
 
+        private bool m_insertCoopTerminationChecks;
+        private static string m_coopTerminationCheck = "opensim_reserved_CheckForCoopTermination();";
+
+        /// <summary>
+        /// Keep a record of the previous node when we do the parsing.
+        /// </summary>
+        /// <remarks>
+        /// We do this here because the parser generated by CSTools does not retain a reference to its parent node.
+        /// The previous node is required so we can correctly insert co-op termination checks when required.
+        /// </remarks>
+//        private SYMBOL m_previousNode;
+
         /// <summary>
         /// Creates an 'empty' CSCodeGenerator instance.
         /// </summary>
@@ -58,9 +69,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             ResetCounters();
         }
 
-        public CSCodeGenerator(IScriptModuleComms comms)
+        public CSCodeGenerator(IScriptModuleComms comms, bool insertCoopTerminationChecks)
         {
             m_comms = comms;
+            m_insertCoopTerminationChecks = insertCoopTerminationChecks;
             ResetCounters();
         }
 
@@ -155,7 +167,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             // here's the payload
             retstr += GenerateLine();
             foreach (SYMBOL s in m_astRoot.kids)
-                retstr += GenerateNode(s);
+                retstr += GenerateNode(m_astRoot, s);
 
             // close braces!
             m_braceCount--;
@@ -165,7 +177,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
 
             // Removes all carriage return characters which may be generated in Windows platform. Is there
             // cleaner way of doing this?
-            retstr=retstr.Replace("\r", "");
+            retstr = retstr.Replace("\r", "");
 
             return retstr;
         }
@@ -191,9 +203,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
         /// Recursively called to generate each type of node. Will generate this
         /// node, then all it's children.
         /// </summary>
+        /// <param name="previousSymbol">The parent node.</param>
         /// <param name="s">The current node to generate code for.</param>
         /// <returns>String containing C# code for SYMBOL s.</returns>
-        private string GenerateNode(SYMBOL s)
+        private string GenerateNode(SYMBOL previousSymbol, SYMBOL s)
         {
             string retstr = String.Empty;
 
@@ -207,11 +220,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             else if (s is State)
                 retstr += GenerateState((State) s);
             else if (s is CompoundStatement)
-                retstr += GenerateCompoundStatement((CompoundStatement) s);
+                retstr += GenerateCompoundStatement(previousSymbol, (CompoundStatement) s);
             else if (s is Declaration)
                 retstr += GenerateDeclaration((Declaration) s);
             else if (s is Statement)
-                retstr += GenerateStatement((Statement) s);
+                retstr += GenerateStatement(previousSymbol, (Statement) s);
             else if (s is ReturnStatement)
                 retstr += GenerateReturnStatement((ReturnStatement) s);
             else if (s is JumpLabel)
@@ -261,7 +274,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             else
             {
                 foreach (SYMBOL kid in s.kids)
-                    retstr += GenerateNode(kid);
+                    retstr += GenerateNode(s, kid);
             }
 
             return retstr;
@@ -295,7 +308,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             retstr += GenerateLine(")");
 
             foreach (SYMBOL kid in remainingKids)
-                retstr += GenerateNode(kid);
+                retstr += GenerateNode(gf, kid);
 
             return retstr;
         }
@@ -312,7 +325,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             foreach (SYMBOL s in gv.kids)
             {
                 retstr += Indent();
-                retstr += GenerateNode(s);
+                retstr += GenerateNode(gv, s);
                 retstr += GenerateLine(";");
             }
 
@@ -365,7 +378,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             retstr += GenerateLine(")");
 
             foreach (SYMBOL kid in remainingKids)
-                retstr += GenerateNode(kid);
+                retstr += GenerateNode(se, kid);
 
             return retstr;
         }
@@ -404,7 +417,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
 
             foreach (SYMBOL s in al.kids)
             {
-                retstr += GenerateNode(s);
+                retstr += GenerateNode(al, s);
                 if (0 < comma--)
                     retstr += Generate(", ");
             }
@@ -417,7 +430,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
         /// </summary>
         /// <param name="cs">The CompoundStatement node.</param>
         /// <returns>String containing C# code for CompoundStatement cs.</returns>
-        private string GenerateCompoundStatement(CompoundStatement cs)
+        private string GenerateCompoundStatement(SYMBOL previousSymbol, CompoundStatement cs)
         {
             string retstr = String.Empty;
 
@@ -425,8 +438,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             retstr += GenerateIndentedLine("{");
             m_braceCount++;
 
+            if (m_insertCoopTerminationChecks)
+            {
+                // We have to check in event functions as well because the user can manually call these.
+                if (previousSymbol is GlobalFunctionDefinition 
+                    || previousSymbol is WhileStatement 
+                    || previousSymbol is DoWhileStatement 
+                    || previousSymbol is ForLoop
+                    || previousSymbol is StateEvent)
+                retstr += GenerateIndentedLine(m_coopTerminationCheck);
+            }
+
             foreach (SYMBOL kid in cs.kids)
-                retstr += GenerateNode(kid);
+                retstr += GenerateNode(cs, kid);
 
             // closing brace
             m_braceCount--;
@@ -450,10 +474,28 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
         /// </summary>
         /// <param name="s">The Statement node.</param>
         /// <returns>String containing C# code for Statement s.</returns>
-        private string GenerateStatement(Statement s)
+        private string GenerateStatement(SYMBOL previousSymbol, Statement s)
         {
             string retstr = String.Empty;
             bool printSemicolon = true;
+            bool transformToBlock = false;
+
+            if (m_insertCoopTerminationChecks)
+            {
+                // A non-braced single line do while structure cannot contain multiple statements.
+                // So to insert the termination check we change this to a braced control structure instead.
+                if (previousSymbol is WhileStatement 
+                    || previousSymbol is DoWhileStatement 
+                    || previousSymbol is ForLoop)
+                {
+                    transformToBlock = true;
+
+                    // FIXME: This will be wrongly indented because the previous for/while/dowhile will have already indented.
+                    retstr += GenerateIndentedLine("{");
+
+                    retstr += GenerateIndentedLine(m_coopTerminationCheck);
+                }
+            }
 
             retstr += Indent();
 
@@ -466,12 +508,18 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
                 // (MONO) error.
                 if (!(s.kids.Top is IdentExpression && 1 == s.kids.Count))
                     foreach (SYMBOL kid in s.kids)
-                        retstr += GenerateNode(kid);
+                        retstr += GenerateNode(s, kid);
             }
 
             if (printSemicolon)
                 retstr += GenerateLine(";");
 
+            if (transformToBlock)
+            {
+                // FIXME: This will be wrongly indented because the for/while/dowhile is currently handling the unindent
+                retstr += GenerateIndentedLine("}");
+            }
+
             return retstr;
         }
 
@@ -487,10 +535,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             List<string> identifiers = new List<string>();
             checkForMultipleAssignments(identifiers, a);
 
-            retstr += GenerateNode((SYMBOL) a.kids.Pop());
+            retstr += GenerateNode(a, (SYMBOL) a.kids.Pop());
             retstr += Generate(String.Format(" {0} ", a.AssignmentType), a);
             foreach (SYMBOL kid in a.kids)
-                retstr += GenerateNode(kid);
+                retstr += GenerateNode(a, kid);
 
             return retstr;
         }
@@ -563,7 +611,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             retstr += Generate("return ", rs);
 
             foreach (SYMBOL kid in rs.kids)
-                retstr += GenerateNode(kid);
+                retstr += GenerateNode(rs, kid);
 
             return retstr;
         }
@@ -575,7 +623,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
         /// <returns>String containing C# code for JumpLabel jl.</returns>
         private string GenerateJumpLabel(JumpLabel jl)
         {
-            return Generate(String.Format("{0}:", CheckName(jl.LabelName)), jl) + " NoOp();\n";
+            string labelStatement;
+
+            if (m_insertCoopTerminationChecks)
+                labelStatement = m_coopTerminationCheck + "\n";
+            else
+                labelStatement = "NoOp();\n";
+
+            return Generate(String.Format("{0}: ", CheckName(jl.LabelName)), jl) + labelStatement;
         }
 
         /// <summary>
@@ -598,14 +653,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             string retstr = String.Empty;
 
             retstr += GenerateIndented("if (", ifs);
-            retstr += GenerateNode((SYMBOL) ifs.kids.Pop());
+            retstr += GenerateNode(ifs, (SYMBOL) ifs.kids.Pop());
             retstr += GenerateLine(")");
 
             // CompoundStatement handles indentation itself but we need to do it
             // otherwise.
             bool indentHere = ifs.kids.Top is Statement;
             if (indentHere) m_braceCount++;
-            retstr += GenerateNode((SYMBOL) ifs.kids.Pop());
+            retstr += GenerateNode(ifs, (SYMBOL) ifs.kids.Pop());
             if (indentHere) m_braceCount--;
 
             if (0 < ifs.kids.Count) // do it again for an else
@@ -614,7 +669,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
 
                 indentHere = ifs.kids.Top is Statement;
                 if (indentHere) m_braceCount++;
-                retstr += GenerateNode((SYMBOL) ifs.kids.Pop());
+                retstr += GenerateNode(ifs, (SYMBOL) ifs.kids.Pop());
                 if (indentHere) m_braceCount--;
             }
 
@@ -641,14 +696,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             string retstr = String.Empty;
 
             retstr += GenerateIndented("while (", ws);
-            retstr += GenerateNode((SYMBOL) ws.kids.Pop());
+            retstr += GenerateNode(ws, (SYMBOL) ws.kids.Pop());
             retstr += GenerateLine(")");
 
             // CompoundStatement handles indentation itself but we need to do it
             // otherwise.
             bool indentHere = ws.kids.Top is Statement;
             if (indentHere) m_braceCount++;
-            retstr += GenerateNode((SYMBOL) ws.kids.Pop());
+            retstr += GenerateNode(ws, (SYMBOL) ws.kids.Pop());
             if (indentHere) m_braceCount--;
 
             return retstr;
@@ -669,11 +724,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             // otherwise.
             bool indentHere = dws.kids.Top is Statement;
             if (indentHere) m_braceCount++;
-            retstr += GenerateNode((SYMBOL) dws.kids.Pop());
+            retstr += GenerateNode(dws, (SYMBOL) dws.kids.Pop());
             if (indentHere) m_braceCount--;
 
             retstr += GenerateIndented("while (", dws);
-            retstr += GenerateNode((SYMBOL) dws.kids.Pop());
+            retstr += GenerateNode(dws, (SYMBOL) dws.kids.Pop());
             retstr += GenerateLine(");");
 
             return retstr;
@@ -702,7 +757,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             retstr += Generate("; ");
             // for (x = 0; x < 10; x++)
             //             ^^^^^^
-            retstr += GenerateNode((SYMBOL) fl.kids.Pop());
+            retstr += GenerateNode(fl, (SYMBOL) fl.kids.Pop());
             retstr += Generate("; ");
             // for (x = 0; x < 10; x++)
             //                     ^^^
@@ -713,7 +768,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             // otherwise.
             bool indentHere = fl.kids.Top is Statement;
             if (indentHere) m_braceCount++;
-            retstr += GenerateNode((SYMBOL) fl.kids.Pop());
+            retstr += GenerateNode(fl, (SYMBOL) fl.kids.Pop());
             if (indentHere) m_braceCount--;
 
             return retstr;
@@ -758,7 +813,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
                 while (s is ParenthesisExpression)
                     s = (SYMBOL)s.kids.Pop();
                     
-                retstr += GenerateNode(s);
+                retstr += GenerateNode(fls, s);
                 if (0 < comma--)
                     retstr += Generate(", ");
             }
@@ -779,20 +834,20 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             {
                 // special case handling for logical and/or, see Mantis 3174
                 retstr += "((bool)(";
-                retstr += GenerateNode((SYMBOL)be.kids.Pop());
+                retstr += GenerateNode(be, (SYMBOL)be.kids.Pop());
                 retstr += "))";
                 retstr += Generate(String.Format(" {0} ", be.ExpressionSymbol.Substring(0,1)), be);
                 retstr += "((bool)(";
                 foreach (SYMBOL kid in be.kids)
-                    retstr += GenerateNode(kid);
+                    retstr += GenerateNode(be, kid);
                 retstr += "))";
             }
             else
             {
-                retstr += GenerateNode((SYMBOL)be.kids.Pop());
+                retstr += GenerateNode(be, (SYMBOL)be.kids.Pop());
                 retstr += Generate(String.Format(" {0} ", be.ExpressionSymbol), be);
                 foreach (SYMBOL kid in be.kids)
-                    retstr += GenerateNode(kid);
+                    retstr += GenerateNode(be, kid);
             }
 
             return retstr;
@@ -808,7 +863,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             string retstr = String.Empty;
 
             retstr += Generate(ue.UnarySymbol, ue);
-            retstr += GenerateNode((SYMBOL) ue.kids.Pop());
+            retstr += GenerateNode(ue, (SYMBOL) ue.kids.Pop());
 
             return retstr;
         }
@@ -824,7 +879,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
 
             retstr += Generate("(");
             foreach (SYMBOL kid in pe.kids)
-                retstr += GenerateNode(kid);
+                retstr += GenerateNode(pe, kid);
             retstr += Generate(")");
 
             return retstr;
@@ -861,7 +916,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
 
             // we wrap all typecasted statements in parentheses
             retstr += Generate(String.Format("({0}) (", te.TypecastType), te);
-            retstr += GenerateNode((SYMBOL) te.kids.Pop());
+            retstr += GenerateNode(te, (SYMBOL) te.kids.Pop());
             retstr += Generate(")");
 
             return retstr;
@@ -931,7 +986,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             }
             
             foreach (SYMBOL kid in fc.kids)
-                retstr += GenerateNode(kid);
+                retstr += GenerateNode(fc, kid);
 
             retstr += Generate(")");
 
@@ -980,11 +1035,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             string retstr = String.Empty;
 
             retstr += Generate(String.Format("new {0}(", vc.Type), vc);
-            retstr += GenerateNode((SYMBOL) vc.kids.Pop());
+            retstr += GenerateNode(vc, (SYMBOL) vc.kids.Pop());
             retstr += Generate(", ");
-            retstr += GenerateNode((SYMBOL) vc.kids.Pop());
+            retstr += GenerateNode(vc, (SYMBOL) vc.kids.Pop());
             retstr += Generate(", ");
-            retstr += GenerateNode((SYMBOL) vc.kids.Pop());
+            retstr += GenerateNode(vc, (SYMBOL) vc.kids.Pop());
             retstr += Generate(")");
 
             return retstr;
@@ -1000,13 +1055,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             string retstr = String.Empty;
 
             retstr += Generate(String.Format("new {0}(", rc.Type), rc);
-            retstr += GenerateNode((SYMBOL) rc.kids.Pop());
+            retstr += GenerateNode(rc, (SYMBOL) rc.kids.Pop());
             retstr += Generate(", ");
-            retstr += GenerateNode((SYMBOL) rc.kids.Pop());
+            retstr += GenerateNode(rc, (SYMBOL) rc.kids.Pop());
             retstr += Generate(", ");
-            retstr += GenerateNode((SYMBOL) rc.kids.Pop());
+            retstr += GenerateNode(rc, (SYMBOL) rc.kids.Pop());
             retstr += Generate(", ");
-            retstr += GenerateNode((SYMBOL) rc.kids.Pop());
+            retstr += GenerateNode(rc, (SYMBOL) rc.kids.Pop());
             retstr += Generate(")");
 
             return retstr;
@@ -1024,7 +1079,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             retstr += Generate(String.Format("new {0}(", lc.Type), lc);
 
             foreach (SYMBOL kid in lc.kids)
-                retstr += GenerateNode(kid);
+                retstr += GenerateNode(lc, kid);
 
             retstr += Generate(")");
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Compiler.cs b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Compiler.cs
index 03be2ab..9d20c9e 100644
--- a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Compiler.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Compiler.cs
@@ -72,6 +72,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
         private bool CompileWithDebugInformation;
         private Dictionary<string, bool> AllowedCompilers = new Dictionary<string, bool>(StringComparer.CurrentCultureIgnoreCase);
         private Dictionary<string, enumCompileType> LanguageMapping = new Dictionary<string, enumCompileType>(StringComparer.CurrentCultureIgnoreCase);
+        private bool m_insertCoopTerminationCalls;
 
         private string FilePrefix;
         private string ScriptEnginesPath = null;
@@ -95,20 +96,22 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
         private Dictionary<string, Dictionary<KeyValuePair<int, int>, KeyValuePair<int, int>>> m_lineMaps =
             new Dictionary<string, Dictionary<KeyValuePair<int, int>, KeyValuePair<int, int>>>();
 
+        public bool in_startup = true;
+
         public Compiler(IScriptEngine scriptEngine)
         {
-            m_scriptEngine = scriptEngine;;
+            m_scriptEngine = scriptEngine;
             ScriptEnginesPath = scriptEngine.ScriptEnginePath;
             ReadConfig();
         }
 
-        public bool in_startup = true;
         public void ReadConfig()
         {
             // Get some config
             WriteScriptSourceToDebugFile = m_scriptEngine.Config.GetBoolean("WriteScriptSourceToDebugFile", false);
             CompileWithDebugInformation = m_scriptEngine.Config.GetBoolean("CompileWithDebugInformation", true);
             bool DeleteScriptsOnStartup = m_scriptEngine.Config.GetBoolean("DeleteScriptsOnStartup", true);
+            m_insertCoopTerminationCalls = m_scriptEngine.Config.GetString("ScriptStopStrategy", "abort") == "co-op";
 
             // Get file prefix from scriptengine name and make it file system safe:
             FilePrefix = "CommonCompiler";
@@ -386,7 +389,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             if (language == enumCompileType.lsl)
             {
                 // Its LSL, convert it to C#
-                LSL_Converter = (ICodeConverter)new CSCodeGenerator(comms);
+                LSL_Converter = (ICodeConverter)new CSCodeGenerator(comms, m_insertCoopTerminationCalls);
                 compileScript = LSL_Converter.Convert(Script);
 
                 // copy converter warnings into our warnings.
@@ -411,16 +414,22 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             {
                 case enumCompileType.cs:
                 case enumCompileType.lsl:
-                    compileScript = CreateCSCompilerScript(compileScript);
+                    compileScript = CreateCSCompilerScript(
+                        compileScript, 
+                        m_scriptEngine.ScriptClassName, 
+                        m_scriptEngine.ScriptBaseClassName, 
+                        m_scriptEngine.ScriptBaseClassParameters);
                     break;
                 case enumCompileType.vb:
-                    compileScript = CreateVBCompilerScript(compileScript);
+                    compileScript = CreateVBCompilerScript(
+                        compileScript, m_scriptEngine.ScriptClassName, m_scriptEngine.ScriptBaseClassName);
                     break;
 //                case enumCompileType.js:
-//                    compileScript = CreateJSCompilerScript(compileScript);
+//                    compileScript = CreateJSCompilerScript(compileScript, m_scriptEngine.ScriptBaseClassName);
 //                    break;
                 case enumCompileType.yp:
-                    compileScript = CreateYPCompilerScript(compileScript);
+                    compileScript = CreateYPCompilerScript(
+                        compileScript, m_scriptEngine.ScriptClassName,m_scriptEngine.ScriptBaseClassName);
                     break;
             }
 
@@ -451,43 +460,60 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
 //            return compileScript;
 //        }
 
-        private static string CreateCSCompilerScript(string compileScript)
+        private static string CreateCSCompilerScript(
+            string compileScript, string className, string baseClassName, ParameterInfo[] constructorParameters)
         {
-            compileScript = String.Empty +
-                "using OpenSim.Region.ScriptEngine.Shared; using System.Collections.Generic;\r\n" +
-                String.Empty + "namespace SecondLife { " +
-                String.Empty + "public class Script : OpenSim.Region.ScriptEngine.Shared.ScriptBase.ScriptBaseClass { \r\n" +
-                @"public Script() { } " +
-                compileScript +
-                "} }\r\n";
+            compileScript = string.Format(    
+@"using OpenSim.Region.ScriptEngine.Shared; 
+using System.Collections.Generic;
+
+namespace SecondLife 
+{{ 
+    public class {0} : {1} 
+    {{
+        public {0}({2}) : base({3}) {{}}
+{4}
+    }}
+}}",
+                className,
+                baseClassName, 
+                constructorParameters != null 
+                    ? string.Join(", ", Array.ConvertAll<ParameterInfo, string>(constructorParameters, pi => pi.ToString())) 
+                    : "", 
+                constructorParameters != null 
+                    ? string.Join(", ", Array.ConvertAll<ParameterInfo, string>(constructorParameters, pi => pi.Name)) 
+                    : "", 
+                compileScript);
+
             return compileScript;
         }
 
-        private static string CreateYPCompilerScript(string compileScript)
+        private static string CreateYPCompilerScript(string compileScript, string className, string baseClassName)
         {
             compileScript = String.Empty +
                        "using OpenSim.Region.ScriptEngine.Shared.YieldProlog; " +
                         "using OpenSim.Region.ScriptEngine.Shared; using System.Collections.Generic;\r\n" +
                         String.Empty + "namespace SecondLife { " +
-                        String.Empty + "public class Script : OpenSim.Region.ScriptEngine.Shared.ScriptBase.ScriptBaseClass  { \r\n" +
+                        String.Empty + "public class " + className + " : " + baseClassName + " { \r\n" +
                         //@"public Script() { } " +
                         @"static OpenSim.Region.ScriptEngine.Shared.YieldProlog.YP YP=null; " +
-                        @"public Script() {  YP= new OpenSim.Region.ScriptEngine.Shared.YieldProlog.YP(); } " +
-
+                        @"public " + className + "() {  YP= new OpenSim.Region.ScriptEngine.Shared.YieldProlog.YP(); } " +
                         compileScript +
                         "} }\r\n";
+
             return compileScript;
         }
 
-        private static string CreateVBCompilerScript(string compileScript)
+        private static string CreateVBCompilerScript(string compileScript, string className, string baseClassName)
         {
             compileScript = String.Empty +
                 "Imports OpenSim.Region.ScriptEngine.Shared: Imports System.Collections.Generic: " +
                 String.Empty + "NameSpace SecondLife:" +
-                String.Empty + "Public Class Script: Inherits OpenSim.Region.ScriptEngine.Shared.ScriptBase.ScriptBaseClass: " +
+                String.Empty + "Public Class " + className + ": Inherits " + baseClassName +
                 "\r\nPublic Sub New()\r\nEnd Sub: " +
                 compileScript +
                 ":End Class :End Namespace\r\n";
+
             return compileScript;
         }
 
@@ -549,6 +575,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
             parameters.ReferencedAssemblies.Add(Path.Combine(rootPath,
                     "OpenMetaverseTypes.dll"));
 
+            if (m_scriptEngine.ScriptReferencedAssemblies != null)
+                Array.ForEach<string>(
+                    m_scriptEngine.ScriptReferencedAssemblies, 
+                    a => parameters.ReferencedAssemblies.Add(Path.Combine(rootPath, a)));
+
             if (lang == enumCompileType.yp)
             {
                 parameters.ReferencedAssemblies.Add(Path.Combine(rootPath,
diff --git a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Properties/AssemblyInfo.cs b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Properties/AssemblyInfo.cs
index c65caa8..fd37753 100644
--- a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CSCodeGeneratorTest.cs b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CSCodeGeneratorTest.cs
index 7763619..77e087c 100644
--- a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CSCodeGeneratorTest.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CSCodeGeneratorTest.cs
@@ -39,7 +39,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools.Tests
     /// The generated C# code is compared against the expected C# code.
     /// </summary>
     [TestFixture]
-    public class CSCodeGeneratorTest
+    public class CSCodeGeneratorTest : OpenSimTestCase
     {
         [Test]
         public void TestDefaultState()
diff --git a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CompilerTest.cs b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CompilerTest.cs
index 1fa6954..05a8756 100644
--- a/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CompilerTest.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CompilerTest.cs
@@ -41,7 +41,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools.Tests
     /// the LSL source.
     /// </summary>
     [TestFixture]
-    public class CompilerTest
+    public class CompilerTest : OpenSimTestCase
     {
         private string m_testDir;
         private CSharpCodeProvider m_CSCodeProvider;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Helpers.cs b/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
index 22804f5..e44a106 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
@@ -82,6 +82,24 @@ namespace OpenSim.Region.ScriptEngine.Shared
         }
     }
 
+    /// <summary>
+    /// Used to signal when the script is stopping in co-operation with the script engine 
+    /// (instead of through Thread.Abort()).
+    /// </summary>
+    [Serializable]
+    public class ScriptCoopStopException : Exception
+    {
+        public ScriptCoopStopException()
+        {
+        }
+
+        protected ScriptCoopStopException(
+                SerializationInfo info, 
+                StreamingContext context)
+        {
+        }
+    }
+
     public class DetectParams
     {
         public const int AGENT = 1;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Instance/Properties/AssemblyInfo.cs b/OpenSim/Region/ScriptEngine/Shared/Instance/Properties/AssemblyInfo.cs
index 470e1a1..74747a2 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Instance/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Instance/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
index 771db0c..26850c4 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
@@ -94,6 +94,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
         private UUID m_CurrentStateHash;
         private UUID m_RegionID;
 
+        public int DebugLevel { get; set; }
+
         public Dictionary<KeyValuePair<int, int>, KeyValuePair<int, int>> LineMap { get; set; }
 
         private Dictionary<string,IScriptApi> m_Apis = new Dictionary<string,IScriptApi>();
@@ -156,6 +158,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
         public UUID AppDomain { get; set; }
 
+        public SceneObjectPart Part { get; private set; }
+
         public string PrimName { get; private set; }
 
         public string ScriptName { get; private set; }
@@ -174,6 +178,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
         public Queue EventQueue { get; private set; }
 
+        public long EventsQueued
+        {
+            get 
+            {
+                lock (EventQueue)
+                    return EventQueue.Count;
+            }   
+        }
+
+        public long EventsProcessed { get; private set; }
+
         public int StartParam { get; set; }
 
         public TaskInventoryItem ScriptTask { get; private set; }
@@ -186,66 +201,124 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
         public static readonly long MaxMeasurementPeriod = 30 * TimeSpan.TicksPerMinute;
 
+        private bool m_coopTermination;
+ 
+        private EventWaitHandle m_coopSleepHandle;
+
         public void ClearQueue()
         {
             m_TimerQueued = false;
             EventQueue.Clear();
         }
 
-        public ScriptInstance(IScriptEngine engine, SceneObjectPart part,
-                UUID itemID, UUID assetID, string assembly,
-                AppDomain dom, string primName, string scriptName,
-                int startParam, bool postOnRez, StateSource stateSource,
-                int maxScriptQueue)
+        public ScriptInstance(
+            IScriptEngine engine, SceneObjectPart part, TaskInventoryItem item,
+            int startParam, bool postOnRez,
+            int maxScriptQueue)
         {
             State = "default";
             EventQueue = new Queue(32);
 
             Engine = engine;
-            LocalID = part.LocalId;
-            ObjectID = part.UUID;
-            RootLocalID = part.ParentGroup.LocalId;
-            RootObjectID = part.ParentGroup.UUID;
-            ItemID = itemID;
-            AssetID = assetID;
-            PrimName = primName;
-            ScriptName = scriptName;
-            m_Assembly = assembly;
+            Part = part;
+            ScriptTask = item;
+
+            // This is currently only here to allow regression tests to get away without specifying any inventory
+            // item when they are testing script logic that doesn't require an item.
+            if (ScriptTask != null)
+            {
+                ScriptName = ScriptTask.Name;
+                ItemID = ScriptTask.ItemID;
+                AssetID = ScriptTask.AssetID;
+            }
+
+            PrimName = part.ParentGroup.Name;
             StartParam = startParam;
             m_MaxScriptQueue = maxScriptQueue;
-            m_stateSource = stateSource;
             m_postOnRez = postOnRez;
             m_AttachedAvatar = part.ParentGroup.AttachedAvatar;
             m_RegionID = part.ParentGroup.Scene.RegionInfo.RegionID;
 
-            if (part != null)
+            if (Engine.Config.GetString("ScriptStopStrategy", "abort") == "co-op")
             {
-                part.TaskInventory.LockItemsForRead(true);
-                if (part.TaskInventory.ContainsKey(ItemID))
-                {
-                    ScriptTask = part.TaskInventory[ItemID];
-                }
-                part.TaskInventory.LockItemsForRead(false);
+                m_coopTermination = true;
+                m_coopSleepHandle = new AutoResetEvent(false);
             }
+        }
+
+        /// <summary>
+        /// Load the script from an assembly into an AppDomain.
+        /// </summary>
+        /// <param name='dom'></param>
+        /// <param name='assembly'></param>
+        /// <param name='stateSource'></param>
+        /// <returns>false if load failed, true if suceeded</returns>
+        public bool Load(AppDomain dom, string assembly, StateSource stateSource)
+        {
+            m_Assembly = assembly;
+            m_stateSource = stateSource;
 
             ApiManager am = new ApiManager();
 
             foreach (string api in am.GetApis())
             {
                 m_Apis[api] = am.CreateApi(api);
-                m_Apis[api].Initialize(engine, part, ScriptTask);
+                m_Apis[api].Initialize(Engine, Part, ScriptTask, m_coopSleepHandle);
             }
     
             try
             {
+                object[] constructorParams;
+
+                Assembly scriptAssembly = dom.Load(Path.GetFileNameWithoutExtension(assembly));
+                Type scriptType = scriptAssembly.GetType("SecondLife.XEngineScript");
+
+                if (scriptType != null)
+                {
+                    constructorParams = new object[] { m_coopSleepHandle };
+                }
+                else if (!m_coopTermination)
+                {
+                    scriptType = scriptAssembly.GetType("SecondLife.Script");
+                    constructorParams = null;
+                }
+                else
+                {
+                    m_log.ErrorFormat(
+                        "[SCRIPT INSTANCE]: Not starting script {0} (id {1}) in part {2} (id {3}) in object {4} in {5}.  You must remove all existing {6}* script DLL files before using enabling co-op termination"
+                        + ", either by setting DeleteScriptsOnStartup = true in [XEngine] for one run"
+                        + " or by deleting these files manually.",
+                        ScriptTask.Name, ScriptTask.ItemID, Part.Name, Part.UUID, Part.ParentGroup.Name, Engine.World.Name, assembly);
+
+                    return false;
+                }
+
+//                m_log.DebugFormat(
+//                    "[SCRIPT INSTANCE]: Looking to load {0} from assembly {1} in {2}", 
+//                    scriptType.FullName, Path.GetFileNameWithoutExtension(assembly), Engine.World.Name);
+
                 if (dom != System.AppDomain.CurrentDomain)
-                    m_Script = (IScript)dom.CreateInstanceAndUnwrap(
+                    m_Script 
+                        = (IScript)dom.CreateInstanceAndUnwrap(
                             Path.GetFileNameWithoutExtension(assembly),
-                            "SecondLife.Script");
+                            scriptType.FullName,
+                            false,
+                            BindingFlags.Default,
+                            null,
+                            constructorParams,
+                            null,
+                            null,
+                            null);
                 else
-                    m_Script = (IScript)Assembly.Load(
-                            Path.GetFileNameWithoutExtension(assembly)).CreateInstance(
-                            "SecondLife.Script");
+                    m_Script 
+                        = (IScript)scriptAssembly.CreateInstance(
+                            scriptType.FullName, 
+                            false, 
+                            BindingFlags.Default, 
+                            null, 
+                            constructorParams, 
+                            null, 
+                            null);
 
                 //ILease lease = (ILease)RemotingServices.GetLifetimeService(m_Script as ScriptBaseClass);
                 //RemotingServices.GetLifetimeService(m_Script as ScriptBaseClass);
@@ -254,8 +327,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
             catch (Exception e)
             {
                 m_log.ErrorFormat(
-                    "[SCRIPT INSTANCE]: Error loading assembly {0}.  Exception {1}{2}",
-                    assembly, e.Message, e.StackTrace);
+                    "[SCRIPT INSTANCE]: Not starting script {0} (id {1}) in part {2} (id {3}) in object {4} in {5}.  Error loading assembly {6}.  Exception {7}{8}",
+                    ScriptTask.Name, ScriptTask.ItemID, Part.Name, Part.UUID, Part.ParentGroup.Name, Engine.World.Name, assembly, e.Message, e.StackTrace);
+
+                return false;
             }
 
             try
@@ -267,16 +342,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
 //                // m_log.Debug("[Script] Script instance created");
 
-                part.SetScriptEvents(ItemID,
+                Part.SetScriptEvents(ItemID,
                                      (int)m_Script.GetStateEventFlags(State));
             }
             catch (Exception e)
             {
                 m_log.ErrorFormat(
-                    "[SCRIPT INSTANCE]: Error loading script instance from assembly {0}.  Exception {1}{2}",
-                    assembly, e.Message, e.StackTrace);
+                    "[SCRIPT INSTANCE]: Not starting script {0} (id {1}) in part {2} (id {3}) in object {4} in {5}.  Error initializing script instance.  Exception {6}{7}",
+                    ScriptTask.Name, ScriptTask.ItemID, Part.Name, Part.UUID, Part.ParentGroup.Name, Engine.World.Name, e.Message, e.StackTrace);
 
-                return;
+                return false;
             }
 
             m_SaveState = true;
@@ -309,7 +384,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
 //                            m_log.DebugFormat("[Script] Successfully retrieved state for script {0}.{1}", PrimName, m_ScriptName);
 
-                            part.SetScriptEvents(ItemID,
+                            Part.SetScriptEvents(ItemID,
                                     (int)m_Script.GetStateEventFlags(State));
 
                             if (!Running)
@@ -329,15 +404,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                     else
                     {
                         m_log.WarnFormat(
-                            "[SCRIPT INSTANCE]: Unable to load script state file {0} for script {1} {2} in {3} {4} (assembly {5}).  Memory limit exceeded",
-                            savedState, ScriptName, ItemID, PrimName, ObjectID, assembly);
+                            "[SCRIPT INSTANCE]: Not starting script {0} (id {1}) in part {2} (id {3}) in object {4} in {5}.  Unable to load script state file {6}.  Memory limit exceeded.",
+                            ScriptTask.Name, ScriptTask.ItemID, Part.Name, Part.UUID, Part.ParentGroup.Name, Engine.World.Name, savedState);
                     }
                 }
                 catch (Exception e)
                 {
                      m_log.ErrorFormat(
-                         "[SCRIPT INSTANCE]: Unable to load script state file {0} for script {1} {2} in {3} {4} (assembly {5}).  XML is {6}.  Exception {7}{8}",
-                         savedState, ScriptName, ItemID, PrimName, ObjectID, assembly, xml, e.Message, e.StackTrace);
+                         "[SCRIPT INSTANCE]: Not starting script {0} (id {1}) in part {2} (id {3}) in object {4} in {5}.  Unable to load script state file {6}.  XML is {7}.  Exception {8}{9}",
+                         ScriptTask.Name, ScriptTask.ItemID, Part.Name, Part.UUID, Part.ParentGroup.Name, Engine.World.Name, savedState, xml, e.Message, e.StackTrace);
                 }
             }
 //            else
@@ -348,6 +423,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 //                    presence.ControllingClient.SendAgentAlertMessage("Compile successful", false);
 
 //            }
+
+            return true;
         }
 
         public void Init()
@@ -521,9 +598,36 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
             }
 
             // Wait for the current event to complete.
-            if (!m_InSelfDelete && workItem.Wait(new TimeSpan((long)timeout * 100000)))
+            if (!m_InSelfDelete)
             {
-                return true;
+                if (!m_coopTermination)
+                {
+                    // If we're not co-operative terminating then try and wait for the event to complete before stopping
+                    if (workItem.Wait(timeout))
+                        return true;
+                }
+                else
+                {
+                    if (DebugLevel >= 1)
+                        m_log.DebugFormat(
+                            "[SCRIPT INSTANCE]: Co-operatively stopping script {0} {1} in {2} {3}",
+                            ScriptName, ItemID, PrimName, ObjectID);
+
+                    // This will terminate the event on next handle check by the script.
+                    m_coopSleepHandle.Set();
+
+                    // For now, we will wait forever since the event should always cleanly terminate once LSL loop
+                    // checking is implemented.  May want to allow a shorter timeout option later.
+                    if (workItem.Wait(Timeout.Infinite))
+                    {
+                        if (DebugLevel >= 1)
+                            m_log.DebugFormat(
+                                "[SCRIPT INSTANCE]: Co-operatively stopped script {0} {1} in {2} {3}",
+                                ScriptName, ItemID, PrimName, ObjectID);
+
+                        return true;
+                    }
+                }
             }
 
             lock (EventQueue)
@@ -536,11 +640,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
 
             // If the event still hasn't stopped and we the stop isn't the result of script or object removal, then
             // forcibly abort the work item (this aborts the underlying thread).
+            // Co-operative termination should never reach this point.
             if (!m_InSelfDelete)
             {
-//                m_log.ErrorFormat(
-//                    "[SCRIPT INSTANCE]: Aborting script {0} {1} in prim {2} {3} {4} {5}",
-//                    ScriptName, ItemID, PrimName, ObjectID, m_InSelfDelete, DateTime.Now.Ticks);
+                m_log.DebugFormat(
+                    "[SCRIPT INSTANCE]: Aborting unstopped script {0} {1} in prim {2}, localID {3}, timeout was {4} ms", 
+                    ScriptName, ItemID, PrimName, LocalID, timeout);
 
                 workItem.Abort();
             }
@@ -696,19 +801,41 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
             {
                 
 //                m_log.DebugFormat("[XEngine]: Processing event {0} for {1}", data.EventName, this);
+                SceneObjectPart part = Engine.World.GetSceneObjectPart(LocalID);
+
+                if (DebugLevel >= 2)
+                    m_log.DebugFormat(
+                        "[SCRIPT INSTANCE]: Processing event {0} for {1}/{2}({3})/{4}({5}) @ {6}/{7}", 
+                        data.EventName, 
+                        ScriptName, 
+                        part.Name, 
+                        part.LocalId, 
+                        part.ParentGroup.Name, 
+                        part.ParentGroup.UUID, 
+                        part.AbsolutePosition, 
+                        part.ParentGroup.Scene.Name);
 
                 m_DetectParams = data.DetectParams;
 
                 if (data.EventName == "state") // Hardcoded state change
                 {
-    //                m_log.DebugFormat("[Script] Script {0}.{1} state set to {2}",
-    //                        PrimName, ScriptName, data.Params[0].ToString());
                     State = data.Params[0].ToString();
+
+                    if (DebugLevel >= 1)
+                        m_log.DebugFormat(
+                            "[SCRIPT INSTANCE]: Changing state to {0} for {1}/{2}({3})/{4}({5}) @ {6}/{7}", 
+                            State, 
+                            ScriptName, 
+                            part.Name, 
+                            part.LocalId, 
+                            part.ParentGroup.Name, 
+                            part.ParentGroup.UUID, 
+                            part.AbsolutePosition, 
+                            part.ParentGroup.Scene.Name);
+
                     AsyncCommandManager.RemoveScript(Engine,
                         LocalID, ItemID);
 
-                    SceneObjectPart part = Engine.World.GetSceneObjectPart(
-                        LocalID);
                     if (part != null)
                     {
                         part.SetScriptEvents(ItemID,
@@ -720,8 +847,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                     if (Engine.World.PipeEventsForScript(LocalID) ||
                         data.EventName == "control") // Don't freeze avies!
                     {
-                        SceneObjectPart part = Engine.World.GetSceneObjectPart(
-                            LocalID);
         //                m_log.DebugFormat("[Script] Delivered event {2} in state {3} to {0}.{1}",
         //                        PrimName, ScriptName, data.EventName, State);
 
@@ -763,7 +888,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                             m_InEvent = false;
                             m_CurrentEvent = String.Empty;
 
-                            if ((!(e is TargetInvocationException) || (!(e.InnerException is SelfDeleteException) && !(e.InnerException is ScriptDeleteException))) && !(e is ThreadAbortException))
+                            if ((!(e is TargetInvocationException) 
+                                || (!(e.InnerException is SelfDeleteException) 
+                                    && !(e.InnerException is ScriptDeleteException)
+                                    && !(e.InnerException is ScriptCoopStopException))) 
+                                && !(e is ThreadAbortException))
                             {
                                 try
                                 {
@@ -776,6 +905,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                                                            ChatTypeEnum.DebugChannel, 2147483647,
                                                            part.AbsolutePosition,
                                                            part.Name, part.UUID, false);
+
+
+                                    m_log.DebugFormat(
+                                        "[SCRIPT INSTANCE]: Runtime error in script {0}, part {1} {2} at {3} in {4}, displayed error {5}, actual exception {6}", 
+                                        ScriptName, 
+                                        PrimName, 
+                                        part.UUID,
+                                        part.AbsolutePosition,
+                                        part.ParentGroup.Scene.Name, 
+                                        text.Replace("\n", "\\n"), 
+                                        e.InnerException);
                                 }
                                 catch (Exception)
                                 {
@@ -802,6 +942,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                                 if (part != null)
                                     part.Inventory.RemoveInventoryItem(ItemID);
                             }
+                            else if ((e is TargetInvocationException) && (e.InnerException is ScriptCoopStopException))
+                            {
+                                if (DebugLevel >= 1)
+                                    m_log.DebugFormat(
+                                        "[SCRIPT INSTANCE]: Script {0}.{1} in event {2}, state {3} stopped co-operatively.",
+                                        PrimName, ScriptName, data.EventName, State);
+                            }
                         }
                     }
                 }
@@ -810,6 +957,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                 // script engine to run the next event.
                 lock (EventQueue)
                 {
+                    EventsProcessed++;
+
                     if (EventQueue.Count > 0 && Running && !ShuttingDown)
                     {
                         m_CurrentWorkItem = Engine.QueueEventHandler(this);
@@ -834,7 +983,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
             return (DateTime.Now - m_EventStart).Seconds;
         }
 
-        public void ResetScript()
+        public void ResetScript(int timeout)
         {
             if (m_Script == null)
                 return;
@@ -844,7 +993,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
             RemoveState();
             ReleaseControls();
 
-            Stop(0);
+            Stop(timeout);
             SceneObjectPart part = Engine.World.GetSceneObjectPart(LocalID);
             part.Inventory.GetInventoryItem(ItemID).PermsMask = 0;
             part.Inventory.GetInventoryItem(ItemID).PermsGranter = UUID.Zero;
@@ -1015,7 +1164,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                                     "({0}): {1}", scriptLine - 1,
                                     e.InnerException.Message);
 
-                            System.Console.WriteLine(e.ToString()+"\n");
                             return message;
                         }
                     }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Instance/Tests/CoopTerminationTests.cs b/OpenSim/Region/ScriptEngine/Shared/Instance/Tests/CoopTerminationTests.cs
new file mode 100644
index 0000000..7ea30bf1
--- /dev/null
+++ b/OpenSim/Region/ScriptEngine/Shared/Instance/Tests/CoopTerminationTests.cs
@@ -0,0 +1,514 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Threading;
+using Nini.Config;
+using NUnit.Framework;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.CoreModules.Scripting.WorldComm;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.ScriptEngine.XEngine;
+using OpenSim.Tests.Common;
+using OpenSim.Tests.Common.Mock;
+
+namespace OpenSim.Region.ScriptEngine.Shared.Instance.Tests
+{
+    /// <summary>
+    /// Test that co-operative script thread termination is working correctly.
+    /// </summary>
+    [TestFixture]
+    public class CoopTerminationTests : OpenSimTestCase
+    {
+        private TestScene m_scene;
+        private OpenSim.Region.ScriptEngine.XEngine.XEngine m_xEngine;
+
+        private AutoResetEvent m_chatEvent;
+        private AutoResetEvent m_stoppedEvent;
+
+        private OSChatMessage m_osChatMessageReceived;
+
+        /// <summary>
+        /// Number of chat messages received so far.  Reset before each test.
+        /// </summary>
+        private int m_chatMessagesReceived;
+
+        /// <summary>
+        /// Number of chat messages expected.  m_chatEvent is not fired until this number is reached or exceeded.
+        /// </summary>
+        private int m_chatMessagesThreshold;
+
+        [SetUp]
+        public void Init()
+        {
+            m_osChatMessageReceived = null;
+            m_chatMessagesReceived = 0;
+            m_chatMessagesThreshold = 0;
+            m_chatEvent = new AutoResetEvent(false);
+            m_stoppedEvent = new AutoResetEvent(false);
+
+            //AppDomain.CurrentDomain.SetData("APPBASE", Environment.CurrentDirectory + "/bin");
+//            Console.WriteLine(AppDomain.CurrentDomain.BaseDirectory);
+            m_xEngine = new OpenSim.Region.ScriptEngine.XEngine.XEngine();
+
+            IniConfigSource configSource = new IniConfigSource();
+            
+            IConfig startupConfig = configSource.AddConfig("Startup");
+            startupConfig.Set("DefaultScriptEngine", "XEngine");
+
+            IConfig xEngineConfig = configSource.AddConfig("XEngine");
+            xEngineConfig.Set("Enabled", "true");
+            xEngineConfig.Set("StartDelay", "0");
+
+            // These tests will not run with AppDomainLoading = true, at least on mono.  For unknown reasons, the call
+            // to AssemblyResolver.OnAssemblyResolve fails.
+            xEngineConfig.Set("AppDomainLoading", "false");
+
+            xEngineConfig.Set("ScriptStopStrategy", "co-op");
+
+            // Make sure loops aren't actually being terminated by a script delay wait.
+            xEngineConfig.Set("ScriptDelayFactor", 0);
+
+            // This is really just set for debugging the test.
+            xEngineConfig.Set("WriteScriptSourceToDebugFile", true);
+
+            // Set to false if we need to debug test so the old scripts don't get wiped before each separate test
+//            xEngineConfig.Set("DeleteScriptsOnStartup", false);
+
+            // This is not currently used at all for co-op termination.  Bumping up to demonstrate that co-op termination
+            // has an effect - without it tests will fail due to a 120 second wait for the event to finish.
+            xEngineConfig.Set("WaitForEventCompletionOnScriptStop", 120000);
+
+            m_scene = new SceneHelpers().SetupScene("My Test", TestHelpers.ParseTail(0x9999), 1000, 1000, configSource);
+            SceneHelpers.SetupSceneModules(m_scene, configSource, m_xEngine);
+            m_scene.StartScripts();
+        }
+
+        /// <summary>
+        /// Test co-operative termination on derez of an object containing a script with a long-running event.
+        /// </summary>
+        /// <remarks>
+        /// TODO: Actually compiling the script is incidental to this test.  Really want a way to compile test scripts
+        /// within the build itself.
+        /// </remarks>
+        [Test]
+        public void TestStopOnLongSleep()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        llSay(0, ""Thin Lizzy"");
+        llSleep(60);
+    }
+}";
+
+            TestStop(script);
+        }
+
+        [Test]
+        public void TestNoStopOnSingleStatementForLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;        
+        for (i = 0; i <= 1; i++) llSay(0, ""Iter "" + (string)i);
+    }
+}";
+
+            TestSingleStatementNoStop(script);
+        }
+
+        [Test]
+        public void TestStopOnLongSingleStatementForLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;
+        llSay(0, ""Thin Lizzy"");
+        
+        for (i = 0; i < 2147483647; i++) llSay(0, ""Iter "" + (string)i);
+    }
+}";
+
+            TestStop(script);
+        }
+
+        [Test]
+        public void TestStopOnLongCompoundStatementForLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;
+        llSay(0, ""Thin Lizzy"");
+        
+        for (i = 0; i < 2147483647; i++) 
+        {
+            llSay(0, ""Iter "" + (string)i);
+        }
+    }
+}";
+
+            TestStop(script);
+        }
+
+        [Test]
+        public void TestNoStopOnSingleStatementWhileLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;        
+        while (i < 2) llSay(0, ""Iter "" + (string)i++);
+    }
+}";
+
+            TestSingleStatementNoStop(script);
+        }
+
+        [Test]
+        public void TestStopOnLongSingleStatementWhileLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;
+        llSay(0, ""Thin Lizzy"");
+
+        while (1 == 1)        
+            llSay(0, ""Iter "" + (string)i++);
+    }
+}";
+
+            TestStop(script);
+        }
+
+        [Test]
+        public void TestStopOnLongCompoundStatementWhileLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;
+        llSay(0, ""Thin Lizzy"");
+
+        while (1 == 1) 
+        {
+            llSay(0, ""Iter "" + (string)i++);
+        }
+    }
+}";
+
+            TestStop(script);
+        }
+
+        [Test]
+        public void TestNoStopOnSingleStatementDoWhileLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;
+
+        do llSay(0, ""Iter "" + (string)i++);
+        while (i < 2);
+    }
+}";
+
+            TestSingleStatementNoStop(script);
+        }
+
+        [Test]
+        public void TestStopOnLongSingleStatementDoWhileLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;
+        llSay(0, ""Thin Lizzy"");
+
+        do llSay(0, ""Iter "" + (string)i++);
+        while (1 == 1);
+    }
+}";
+
+            TestStop(script);
+        }
+
+        [Test]
+        public void TestStopOnLongCompoundStatementDoWhileLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;
+        llSay(0, ""Thin Lizzy"");
+
+        do 
+        {
+            llSay(0, ""Iter "" + (string)i++);
+        } while (1 == 1);
+    }
+}";
+
+            TestStop(script);
+        }
+
+        [Test]
+        public void TestStopOnInfiniteJumpLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;
+        llSay(0, ""Thin Lizzy"");
+
+        @p1;      
+        llSay(0, ""Iter "" + (string)i++);
+        jump p1;
+    }
+}";
+
+            TestStop(script);
+        }
+
+        // Disabling for now as these are not particularly useful tests (since they fail due to stack overflow before
+        // termination can even be tried.
+//        [Test]
+        public void TestStopOnInfiniteUserFunctionCallLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"
+integer i = 0;
+
+ufn1()
+{
+  llSay(0, ""Iter ufn1() "" + (string)i++);
+  ufn1();
+}
+
+default
+{    
+    state_entry()
+    {
+        integer i = 0;
+        llSay(0, ""Thin Lizzy"");
+
+        ufn1();
+    }
+}";
+
+            TestStop(script);
+        }
+
+        // Disabling for now as these are not particularly useful tests (since they fail due to stack overflow before
+        // termination can even be tried.
+//        [Test]
+        public void TestStopOnInfiniteManualEventCallLoop()
+        {
+            TestHelpers.InMethod();
+//            TestHelpers.EnableLogging();
+
+            string script = 
+@"default
+{    
+    state_entry()
+    {
+        integer i = 0;
+        llSay(0, ""Thin Lizzy"");
+
+        llSay(0, ""Iter"" + (string)i++);
+        default_event_state_entry();
+    }
+}";
+
+            TestStop(script);
+        }
+
+        private SceneObjectPart CreateScript(string script, string itemName, UUID userId)
+        {
+//            UUID objectId = TestHelpers.ParseTail(0x100);
+//            UUID itemId = TestHelpers.ParseTail(0x3);
+
+            SceneObjectGroup so 
+                = SceneHelpers.CreateSceneObject(1, userId, string.Format("Object for {0}", itemName), 0x100);
+            m_scene.AddNewSceneObject(so, true);
+
+            InventoryItemBase itemTemplate = new InventoryItemBase();
+//            itemTemplate.ID = itemId;
+            itemTemplate.Name = itemName;
+            itemTemplate.Folder = so.UUID;
+            itemTemplate.InvType = (int)InventoryType.LSL;
+
+            m_scene.EventManager.OnChatFromWorld += OnChatFromWorld;
+
+            return m_scene.RezNewScript(userId, itemTemplate, script);
+        }
+
+        private void TestSingleStatementNoStop(string script)
+        {
+            // In these tests we expect to see at least 2 chat messages to confirm that the loop is working properly.
+            m_chatMessagesThreshold = 2;
+
+            UUID userId = TestHelpers.ParseTail(0x1);
+//            UUID objectId = TestHelpers.ParseTail(0x100);
+//            UUID itemId = TestHelpers.ParseTail(0x3);
+            string itemName = "TestNoStop";
+
+            SceneObjectPart partWhereRezzed = CreateScript(script, itemName, userId);
+            TaskInventoryItem rezzedItem = partWhereRezzed.Inventory.GetInventoryItem(itemName);
+
+            // Wait for the script to start the event before we try stopping it.
+            m_chatEvent.WaitOne(60000);
+
+            if (m_osChatMessageReceived == null)
+                Assert.Fail("Script did not start");
+            else
+                Assert.That(m_chatMessagesReceived, Is.EqualTo(2));
+
+            bool running;
+            TaskInventoryItem scriptItem = partWhereRezzed.Inventory.GetInventoryItem(itemName);
+            Assert.That(
+                SceneObjectPartInventory.TryGetScriptInstanceRunning(m_scene, scriptItem, out running), Is.True);
+            Assert.That(running, Is.True);
+        }
+
+        private void TestStop(string script)
+        {
+            // In these tests we're only interested in the first message to confirm that the script has started.
+            m_chatMessagesThreshold = 1;
+
+            UUID userId = TestHelpers.ParseTail(0x1);
+//            UUID objectId = TestHelpers.ParseTail(0x100);
+//            UUID itemId = TestHelpers.ParseTail(0x3);
+            string itemName = "TestStop";
+
+            SceneObjectPart partWhereRezzed = CreateScript(script, itemName, userId);
+            TaskInventoryItem rezzedItem = partWhereRezzed.Inventory.GetInventoryItem(itemName);
+
+            // Wait for the script to start the event before we try stopping it.
+            m_chatEvent.WaitOne(60000);
+
+            if (m_osChatMessageReceived != null)
+                Console.WriteLine("Script started with message [{0}]", m_osChatMessageReceived.Message);
+            else
+                Assert.Fail("Script did not start");
+
+            // FIXME: This is a very poor way of trying to avoid a low-probability race condition where the script
+            // executes llSay() but has not started the next statement before we try to stop it.
+            Thread.Sleep(1000);
+
+            // We need a way of carrying on if StopScript() fail, since it won't return if the script isn't actually
+            // stopped.  This kind of multi-threading is far from ideal in a regression test.
+            new Thread(() => { m_xEngine.StopScript(rezzedItem.ItemID); m_stoppedEvent.Set(); }).Start();
+
+            if (!m_stoppedEvent.WaitOne(30000))
+                Assert.Fail("Script did not co-operatively stop.");
+
+            bool running;
+            TaskInventoryItem scriptItem = partWhereRezzed.Inventory.GetInventoryItem(itemName);
+            Assert.That(
+                SceneObjectPartInventory.TryGetScriptInstanceRunning(m_scene, scriptItem, out running), Is.True);
+            Assert.That(running, Is.False);
+        }
+
+        private void OnChatFromWorld(object sender, OSChatMessage oscm)
+        {
+            Console.WriteLine("Got chat [{0}]", oscm.Message);
+            m_osChatMessageReceived = oscm;
+
+            if (++m_chatMessagesReceived >= m_chatMessagesThreshold)
+            {
+                m_scene.EventManager.OnChatFromWorld -= OnChatFromWorld;            
+                m_chatEvent.Set();
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs b/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
index c9c4753..2e61fb8 100644
--- a/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
@@ -633,19 +633,44 @@ namespace OpenSim.Region.ScriptEngine.Shared
 
             public LSL_Types.Vector3 GetVector3Item(int itemIndex)
             {
-                if(m_data[itemIndex] is LSL_Types.Vector3)
+                if (m_data[itemIndex] is LSL_Types.Vector3)
+                {
                     return (LSL_Types.Vector3)m_data[itemIndex];
+                }
+                else if(m_data[itemIndex] is OpenMetaverse.Vector3)
+                {
+                    return new LSL_Types.Vector3(
+                            (OpenMetaverse.Vector3)m_data[itemIndex]);
+                }
                 else
+                {
                     throw new InvalidCastException(string.Format(
                         "{0} expected but {1} given",
                         typeof(LSL_Types.Vector3).Name,
                         m_data[itemIndex] != null ?
                         m_data[itemIndex].GetType().Name : "null"));
+                }
             }
 
             public LSL_Types.Quaternion GetQuaternionItem(int itemIndex)
             {
-              return (LSL_Types.Quaternion)m_data[itemIndex];
+                if (m_data[itemIndex] is LSL_Types.Quaternion)
+                {
+                    return (LSL_Types.Quaternion)m_data[itemIndex];
+                }
+                else if(m_data[itemIndex] is OpenMetaverse.Quaternion)
+                {
+                    return new LSL_Types.Quaternion(
+                            (OpenMetaverse.Quaternion)m_data[itemIndex]);
+                }
+                else
+                {
+                    throw new InvalidCastException(string.Format(
+                        "{0} expected but {1} given",
+                        typeof(LSL_Types.Quaternion).Name,
+                        m_data[itemIndex] != null ?
+                        m_data[itemIndex].GetType().Name : "null"));
+                }
             }
 
             public LSL_Types.key GetKeyItem(int itemIndex)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Properties/AssemblyInfo.cs b/OpenSim/Region/ScriptEngine/Shared/Properties/AssemblyInfo.cs
index e6e8777..d08b0a6 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs
index c73e22f..6dd6c17 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiInventoryTests.cs
@@ -41,6 +41,7 @@ using OpenSim.Region.OptionalModules.World.NPC;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
 using OpenSim.Tests.Common.Mock;
@@ -51,14 +52,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
     /// Tests for inventory functions in LSL
     /// </summary>
     [TestFixture]
-    public class LSL_ApiInventoryTests
+    public class LSL_ApiInventoryTests : OpenSimTestCase
     {
         protected Scene m_scene;
         protected XEngine.XEngine m_engine;
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource initConfigSource = new IniConfigSource();
             IConfig config = initConfigSource.AddConfig("XEngine");
             config.Set("Enabled", "true");
@@ -91,7 +94,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             TaskInventoryHelpers.AddSceneObject(m_scene, so1.RootPart, inventoryItemName, itemId, userId);
 
             LSL_Api api = new LSL_Api();
-            api.Initialize(m_engine, so1.RootPart, null);
+            api.Initialize(m_engine, so1.RootPart, null, null);
 
             // Create a second object
             SceneObjectGroup so2 = SceneHelpers.CreateSceneObject(1, userId, "so2", 0x100);
@@ -124,7 +127,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             SceneObjectGroup so1 = SceneHelpers.CreateSceneObject(1, user1Id, "so1", 0x10);
             m_scene.AddSceneObject(so1);
             LSL_Api api = new LSL_Api();
-            api.Initialize(m_engine, so1.RootPart, null);
+            api.Initialize(m_engine, so1.RootPart, null, null);
 
             // Create an object embedded inside the first
             UUID itemId = TestHelpers.ParseTail(0x20);
@@ -134,7 +137,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             SceneObjectGroup so2 = SceneHelpers.CreateSceneObject(1, user2Id, "so2", 0x100);
             m_scene.AddSceneObject(so2);
             LSL_Api api2 = new LSL_Api();
-            api2.Initialize(m_engine, so2.RootPart, null);
+            api2.Initialize(m_engine, so2.RootPart, null, null);
 
             // *** Firstly, we test where llAllowInventoryDrop() has not been called. ***
             api.llGiveInventory(so2.UUID.ToString(), inventoryItemName);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs
index 2565ae7..5b57bbe 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiLinkingTests.cs
@@ -41,6 +41,7 @@ using OpenSim.Region.OptionalModules.World.NPC;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
 using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
@@ -56,14 +57,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
     /// OpenSim.Region.Framework.Scenes.Tests.SceneObjectLinkingTests.
     /// </remarks>
     [TestFixture]
-    public class LSL_ApiLinkingTests
+    public class LSL_ApiLinkingTests : OpenSimTestCase
     {
         protected Scene m_scene;
         protected XEngine.XEngine m_engine;
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource initConfigSource = new IniConfigSource();
             IConfig config = initConfigSource.AddConfig("XEngine");
             config.Set("Enabled", "true");
@@ -102,7 +105,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(grp2);
 
             LSL_Api apiGrp1 = new LSL_Api();
-            apiGrp1.Initialize(m_engine, grp1.RootPart, grp1Item);
+            apiGrp1.Initialize(m_engine, grp1.RootPart, grp1Item, null);
 
             apiGrp1.llCreateLink(grp2.UUID.ToString(), ScriptBaseClass.TRUE);
 
@@ -129,7 +132,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             grp1Item.PermsMask |= ScriptBaseClass.PERMISSION_CHANGE_LINKS;
 
             LSL_Api apiGrp1 = new LSL_Api();
-            apiGrp1.Initialize(m_engine, grp1.RootPart, grp1Item);
+            apiGrp1.Initialize(m_engine, grp1.RootPart, grp1Item, null);
 
             apiGrp1.llBreakLink(2);
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs
index dd23be8..60de5cb 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiListTests.cs
@@ -34,6 +34,7 @@ using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.Framework.Scenes;
 using Nini.Config;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
 using OpenMetaverse;
 using OpenSim.Tests.Common.Mock;
@@ -46,13 +47,15 @@ using LSL_String = OpenSim.Region.ScriptEngine.Shared.LSL_Types.LSLString;
 namespace OpenSim.Region.ScriptEngine.Shared.Tests
 {
     [TestFixture]
-    public class LSL_ApiListTests
+    public class LSL_ApiListTests : OpenSimTestCase
     {
         private LSL_Api m_lslApi;
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource initConfigSource = new IniConfigSource();
             IConfig config = initConfigSource.AddConfig("XEngine");
             config.Set("Enabled", "true");
@@ -65,7 +68,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             engine.AddRegion(scene);
 
             m_lslApi = new LSL_Api();
-            m_lslApi.Initialize(engine, part, null);
+            m_lslApi.Initialize(engine, part, null, null);
         }
  
         [Test]
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
index c41d1e7..e97ae06 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
@@ -33,6 +33,7 @@ using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.Framework.Scenes;
 using Nini.Config;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
 using OpenMetaverse;
 using System;
@@ -66,7 +67,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             engine.AddRegion(scene);
 
             m_lslApi = new LSL_Api();
-            m_lslApi.Initialize(engine, part, null);
+            m_lslApi.Initialize(engine, part, null, null);
         }
 
         [Test]
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLFloat.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLFloat.cs
index 3ed2562..c8c7f82 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLFloat.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLFloat.cs
@@ -33,7 +33,7 @@ using OpenSim.Region.ScriptEngine.Shared;
 namespace OpenSim.Region.ScriptEngine.Shared.Tests
 {
     [TestFixture]
-    public class LSL_TypesTestLSLFloat
+    public class LSL_TypesTestLSLFloat : OpenSimTestCase
     {
         // Used for testing equality of two floats.
         private double _lowPrecisionTolerance = 0.000001;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLInteger.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLInteger.cs
index 8d1169a..c664108 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLInteger.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLInteger.cs
@@ -33,7 +33,7 @@ using OpenSim.Region.ScriptEngine.Shared;
 namespace OpenSim.Region.ScriptEngine.Shared.Tests
 {
     [TestFixture]
-    public class LSL_TypesTestLSLInteger
+    public class LSL_TypesTestLSLInteger : OpenSimTestCase
     {
         private Dictionary<double, int> m_doubleIntSet;
         private Dictionary<string, int> m_stringIntSet;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLString.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLString.cs
index c4ca1a8..8550f2d 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLString.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestLSLString.cs
@@ -33,7 +33,7 @@ using OpenSim.Region.ScriptEngine.Shared;
 namespace OpenSim.Region.ScriptEngine.Shared.Tests
 {
     [TestFixture]
-    public class LSL_TypesTestLSLString
+    public class LSL_TypesTestLSLString : OpenSimTestCase
     {
         private Dictionary<double, string> m_doubleStringSet;
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestList.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestList.cs
index b81225f..71b88bc 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestList.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestList.cs
@@ -36,7 +36,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
     /// Tests the LSL_Types.list class.
     /// </summary>
     [TestFixture]
-    public class LSL_TypesTestList
+    public class LSL_TypesTestList : OpenSimTestCase
     {
         /// <summary>
         /// Tests concatenating a string to a list.
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestVector3.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestVector3.cs
index ebf8001..0c838af 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestVector3.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_TypesTestVector3.cs
@@ -36,7 +36,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
     /// Tests for Vector3
     /// </summary>
     [TestFixture]
-    public class LSL_TypesTestVector3
+    public class LSL_TypesTestVector3 : OpenSimTestCase
     {
         [Test]
         public void TestDotProduct()
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs
index c401794..c88bad5 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAppearanceTest.cs
@@ -41,6 +41,7 @@ using OpenSim.Region.OptionalModules.World.NPC;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
 using OpenSim.Tests.Common.Mock;
@@ -51,14 +52,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
     /// Tests for OSSL_Api
     /// </summary>
     [TestFixture]
-    public class OSSL_ApiAppearanceTest
+    public class OSSL_ApiAppearanceTest : OpenSimTestCase
     {
         protected Scene m_scene;
         protected XEngine.XEngine m_engine;
 
         [SetUp]
-        public void SetUp()
+        public override void SetUp()
         {
+            base.SetUp();
+
             IConfigSource initConfigSource = new IniConfigSource();
             IConfig config = initConfigSource.AddConfig("XEngine");
             config.Set("Enabled", "true");
@@ -91,7 +94,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             string notecardName = "appearanceNc";
 
@@ -132,7 +135,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             string notecardName = "appearanceNc";
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAttachmentTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAttachmentTests.cs
index 5ed1f3d..b2803a1 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAttachmentTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiAttachmentTests.cs
@@ -41,6 +41,7 @@ using OpenSim.Region.CoreModules.Framework.InventoryAccess;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
 using OpenSim.Tests.Common.Mock;
@@ -98,9 +99,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             SceneObjectGroup inWorldObj = SceneHelpers.AddSceneObject(m_scene, "inWorldObj", ua1.PrincipalID);
             TaskInventoryItem scriptItem = TaskInventoryHelpers.AddScript(m_scene, inWorldObj.RootPart);
 
-            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
 
 //            SceneObjectGroup sog1 = SceneHelpers.CreateSceneObject(1, ua1.PrincipalID);
 
@@ -144,9 +145,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             SceneObjectGroup inWorldObj = SceneHelpers.AddSceneObject(m_scene, "inWorldObj", ua1.PrincipalID);
             TaskInventoryItem scriptItem = TaskInventoryHelpers.AddScript(m_scene, inWorldObj.RootPart);
 
-            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
 
             // Create an object embedded inside the first
             TaskInventoryHelpers.AddNotecard(
@@ -192,12 +193,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             SceneObjectGroup inWorldObj = SceneHelpers.AddSceneObject(m_scene, "inWorldObj", ua1.PrincipalID);
             TaskInventoryItem scriptItem = TaskInventoryHelpers.AddScript(m_scene, inWorldObj.RootPart);
 
-            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            new LSL_Api().Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem);
+            osslApi.Initialize(m_engine, inWorldObj.RootPart, scriptItem, null);
 
             // Create an object embedded inside the first
-            TaskInventoryHelpers.AddSceneObject(m_scene, inWorldObj.RootPart, taskInvObjItemName, taskInvObjItemId, ua1.PrincipalID);
+            TaskInventoryHelpers.AddSceneObject(
+                m_scene, inWorldObj.RootPart, taskInvObjItemName, taskInvObjItemId, ua1.PrincipalID);
 
             ScenePresence sp2 = SceneHelpers.AddScenePresence(m_scene, ua2);
 
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs
index b49bcc2..1f8a6e5 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/OSSL_ApiNpcTests.cs
@@ -42,6 +42,7 @@ using OpenSim.Region.OptionalModules.World.NPC;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.ScriptEngine.Shared;
 using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
 using OpenSim.Services.Interfaces;
 using OpenSim.Tests.Common;
@@ -99,7 +100,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             string notecardName = "appearanceNc";
             osslApi.osOwnerSaveAppearance(notecardName);
@@ -125,14 +126,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, so.RootPart, null);
+            osslApi.Initialize(m_engine, so.RootPart, null, null);
 
-            string npcRaw;
             bool gotExpectedException = false;
             try
             {
-                npcRaw
-                    = osslApi.osNpcCreate("Jane", "Doe", new LSL_Types.Vector3(128, 128, 128), "not existing notecard name");
+                osslApi.osNpcCreate("Jane", "Doe", new LSL_Types.Vector3(128, 128, 128), "not existing notecard name");
             }
             catch (ScriptException)
             {
@@ -162,7 +161,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             string notecardName = "appearanceNc";
             osslApi.osOwnerSaveAppearance(notecardName);
@@ -196,7 +195,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             osslApi.osOwnerSaveAppearance(firstAppearanceNcName);
 
@@ -234,7 +233,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             osslApi.osOwnerSaveAppearance(firstAppearanceNcName);
 
@@ -286,10 +285,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(otherSo);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             OSSL_Api otherOsslApi = new OSSL_Api();
-            otherOsslApi.Initialize(m_engine, otherPart, null);
+            otherOsslApi.Initialize(m_engine, otherPart, null, null);
 
             string notecardName = "appearanceNc";
             osslApi.osOwnerSaveAppearance(notecardName);
@@ -333,7 +332,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
             m_scene.AddSceneObject(so);
 
             OSSL_Api osslApi = new OSSL_Api();
-            osslApi.Initialize(m_engine, part, null);
+            osslApi.Initialize(m_engine, part, null, null);
 
             string notecardName = "appearanceNc";
             osslApi.osOwnerSaveAppearance(notecardName);
diff --git a/OpenSim/Region/ScriptEngine/XEngine/Api/Runtime/XEngineScriptBase.cs b/OpenSim/Region/ScriptEngine/XEngine/Api/Runtime/XEngineScriptBase.cs
new file mode 100644
index 0000000..f4211c8
--- /dev/null
+++ b/OpenSim/Region/ScriptEngine/XEngine/Api/Runtime/XEngineScriptBase.cs
@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Runtime.Remoting;
+using System.Runtime.Remoting.Lifetime;
+using System.Security.Permissions;
+using System.Threading;
+using System.Reflection;
+using System.Collections;
+using System.Collections.Generic;
+using OpenSim.Region.ScriptEngine.Interfaces;
+using OpenSim.Region.ScriptEngine.Shared;
+using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
+
+namespace OpenSim.Region.ScriptEngine.XEngine.ScriptBase
+{
+    public class XEngineScriptBase : ScriptBaseClass
+    {
+        /// <summary>
+        /// Used for script sleeps when we are using co-operative script termination.
+        /// </summary>
+        /// <remarks>null if co-operative script termination is not active</remarks>  
+        WaitHandle m_coopSleepHandle;
+
+        public XEngineScriptBase(WaitHandle coopSleepHandle) : base()
+        {
+            m_coopSleepHandle = coopSleepHandle;
+        }
+
+        public void opensim_reserved_CheckForCoopTermination()
+        {
+            if (m_coopSleepHandle != null && m_coopSleepHandle.WaitOne(0))
+                throw new ScriptCoopStopException();
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs b/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs
index 9405075..0ff2da3 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs
@@ -52,7 +52,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         {
             myScriptEngine = _ScriptEngine;
 
-            m_log.Info("[XEngine] Hooking up to server events");
+//            m_log.Info("[XEngine] Hooking up to server events");
             myScriptEngine.World.EventManager.OnAttach += attach;
             myScriptEngine.World.EventManager.OnObjectGrab += touch_start;
             myScriptEngine.World.EventManager.OnObjectGrabbing += touch;
@@ -62,6 +62,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             myScriptEngine.World.EventManager.OnScriptNotAtTargetEvent += not_at_target;
             myScriptEngine.World.EventManager.OnScriptAtRotTargetEvent += at_rot_target;
             myScriptEngine.World.EventManager.OnScriptNotAtRotTargetEvent += not_at_rot_target;
+            myScriptEngine.World.EventManager.OnScriptMovingStartEvent += moving_start;
+            myScriptEngine.World.EventManager.OnScriptMovingEndEvent += moving_end;
             myScriptEngine.World.EventManager.OnScriptControlEvent += control;
             myScriptEngine.World.EventManager.OnScriptColliderStart += collision_start;
             myScriptEngine.World.EventManager.OnScriptColliding += collision;
@@ -69,7 +71,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             myScriptEngine.World.EventManager.OnScriptLandColliderStart += land_collision_start;
             myScriptEngine.World.EventManager.OnScriptLandColliding += land_collision;
             myScriptEngine.World.EventManager.OnScriptLandColliderEnd += land_collision_end;
-            IMoneyModule money=myScriptEngine.World.RequestModuleInterface<IMoneyModule>();
+            IMoneyModule money = myScriptEngine.World.RequestModuleInterface<IMoneyModule>();
             if (money != null)
             {
                 money.OnObjectPaid+=HandleObjectPaid;
@@ -419,14 +421,14 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         // dataserver: not handled here
         // link_message: not handled here
 
-        public void moving_start(uint localID, UUID itemID)
+        public void moving_start(uint localID)
         {
             myScriptEngine.PostObjectEvent(localID, new EventParams(
                     "moving_start",new object[0],
                     new DetectParams[0]));
         }
 
-        public void moving_end(uint localID, UUID itemID)
+        public void moving_end(uint localID)
         {
             myScriptEngine.PostObjectEvent(localID, new EventParams(
                     "moving_end",new object[0],
diff --git a/OpenSim/Region/ScriptEngine/XEngine/Properties/AssemblyInfo.cs b/OpenSim/Region/ScriptEngine/XEngine/Properties/AssemblyInfo.cs
index bd26a8b..a887171 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/ScriptEngine/XEngine/ScriptEngineConsoleCommands.cs b/OpenSim/Region/ScriptEngine/XEngine/ScriptEngineConsoleCommands.cs
new file mode 100644
index 0000000..efb854d
--- /dev/null
+++ b/OpenSim/Region/ScriptEngine/XEngine/ScriptEngineConsoleCommands.cs
@@ -0,0 +1,126 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using OpenSim.Framework;
+using OpenSim.Framework.Console;
+using OpenSim.Region.ScriptEngine.Interfaces;
+using OpenSim.Region.ScriptEngine.Shared.Api;
+using OpenSim.Region.ScriptEngine.Shared.Api.Plugins;
+
+namespace OpenSim.Region.ScriptEngine.XEngine
+{
+    public class ScriptEngineConsoleCommands
+    {
+        IScriptEngine m_engine;
+
+        public ScriptEngineConsoleCommands(IScriptEngine engine)
+        {
+            m_engine = engine;
+        }
+
+        public void RegisterCommands()
+        {
+            MainConsole.Instance.Commands.AddCommand(
+                "Scripts", false, "show script sensors", "show script sensors", "Show script sensors information",
+                HandleShowSensors);
+
+            MainConsole.Instance.Commands.AddCommand(
+                "Scripts", false, "show script timers", "show script timers", "Show script sensors information",
+                HandleShowTimers);
+        }
+
+        private bool IsSceneSelected()
+        {
+            return MainConsole.Instance.ConsoleScene == null || MainConsole.Instance.ConsoleScene == m_engine.World;
+        }
+
+        private void HandleShowSensors(string module, string[] cmdparams)
+        {
+            if (!IsSceneSelected())
+                return;
+
+            SensorRepeat sr = AsyncCommandManager.GetSensorRepeatPlugin(m_engine);
+
+            if (sr == null)
+            {
+                MainConsole.Instance.Output("Plugin not yet initialized");
+                return;
+            }
+
+            List<SensorRepeat.SensorInfo> sensorInfo = sr.GetSensorInfo();
+
+            ConsoleDisplayTable cdt = new ConsoleDisplayTable();
+            cdt.AddColumn("Part name", 40);
+            cdt.AddColumn("Script item ID", 36);
+            cdt.AddColumn("Type", 4);
+            cdt.AddColumn("Interval", 8);
+            cdt.AddColumn("Range", 8);
+            cdt.AddColumn("Arc", 8);
+
+            foreach (SensorRepeat.SensorInfo s in sensorInfo)
+            {
+                cdt.AddRow(s.host.Name, s.itemID, s.type, s.interval, s.range, s.arc);
+            }
+
+            MainConsole.Instance.Output(cdt.ToString());
+            MainConsole.Instance.OutputFormat("Total: {0}", sensorInfo.Count);
+        }
+
+        private void HandleShowTimers(string module, string[] cmdparams)
+        {
+            if (!IsSceneSelected())
+                return;
+
+            Timer timerPlugin = AsyncCommandManager.GetTimerPlugin(m_engine);
+
+            if (timerPlugin == null)
+            {
+                MainConsole.Instance.Output("Plugin not yet initialized");
+                return;
+            }
+
+            List<Timer.TimerInfo> timersInfo = timerPlugin.GetTimersInfo();
+
+            ConsoleDisplayTable cdt = new ConsoleDisplayTable();
+            cdt.AddColumn("Part local ID", 13);
+            cdt.AddColumn("Script item ID", 36);
+            cdt.AddColumn("Interval", 10);
+            cdt.AddColumn("Next", 8);
+
+            foreach (Timer.TimerInfo t in timersInfo)
+            {
+                // Convert from 100 ns ticks back to seconds
+                cdt.AddRow(t.localID, t.itemID, (double)t.interval / 10000000, t.next);
+            }
+
+            MainConsole.Instance.Output(cdt.ToString());
+            MainConsole.Instance.OutputFormat("Total: {0}", timersInfo.Count);
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/ScriptEngine/XEngine/Tests/XEngineTest.cs b/OpenSim/Region/ScriptEngine/XEngine/Tests/XEngineBasicTests.cs
index f331658..5abfe9a 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/Tests/XEngineTest.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/Tests/XEngineBasicTests.cs
@@ -44,7 +44,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine.Tests
     /// XEngine tests.
     /// </summary>
     [TestFixture]
-    public class XEngineTest
+    public class XEngineTest : OpenSimTestCase
     {
         private TestScene m_scene;
         private XEngine m_xEngine;
diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
index 9f05666..17243ab 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
@@ -31,6 +31,7 @@ using System.Collections.Generic;
 using System.Diagnostics; //for [DebuggerNonUserCode]
 using System.Globalization;
 using System.IO;
+using System.Linq;
 using System.Reflection;
 using System.Security;
 using System.Security.Policy;
@@ -46,13 +47,14 @@ using OpenSim.Framework;
 using OpenSim.Framework.Console;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.ScriptEngine.Interfaces;
 using OpenSim.Region.ScriptEngine.Shared;
-using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
 using OpenSim.Region.ScriptEngine.Shared.CodeTools;
 using OpenSim.Region.ScriptEngine.Shared.Instance;
 using OpenSim.Region.ScriptEngine.Shared.Api;
 using OpenSim.Region.ScriptEngine.Shared.Api.Plugins;
-using OpenSim.Region.ScriptEngine.Interfaces;
+using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
+using OpenSim.Region.ScriptEngine.XEngine.ScriptBase;
 using Timer = OpenSim.Region.ScriptEngine.Shared.Api.Plugins.Timer;
 
 using ScriptCompileQueue = OpenSim.Framework.LocklessQueue<object[]>;
@@ -107,6 +109,24 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         private IXmlRpcRouter m_XmlRpcRouter;
         private int m_EventLimit;
         private bool m_KillTimedOutScripts;
+
+        /// <summary>
+        /// Number of milliseconds we will wait for a script event to complete on script stop before we forcibly abort
+        /// its thread.
+        /// </summary>
+        /// <remarks>
+        /// It appears that if a script thread is aborted whilst it is holding ReaderWriterLockSlim (possibly the write
+        /// lock) then the lock is not properly released.  This causes mono 2.6, 2.10 and possibly
+        /// later to crash, sometimes with symptoms such as a leap to 100% script usage and a vm thead dump showing
+        /// all threads waiting on release of ReaderWriterLockSlim write thread which none of the threads listed 
+        /// actually hold.
+        /// 
+        /// Pausing for event completion reduces the risk of this happening.  However, it may be that aborting threads
+        /// is not a mono issue per se but rather a risky activity in itself in an AppDomain that is not immediately
+        /// shutting down.
+        /// </remarks>
+        private int m_WaitForEventCompletionOnScriptStop = 1000;
+
         private string m_ScriptEnginesPath = null;
 
         private ExpiringCache<UUID, bool> m_runFlags = new ExpiringCache<UUID, bool>();
@@ -218,11 +238,21 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             }
         }
 
+        private ScriptEngineConsoleCommands m_consoleCommands;
+
         public string ScriptEngineName
         {
             get { return "XEngine"; }
         }
 
+        public string ScriptClassName { get; private set; }
+
+        public string ScriptBaseClassName { get; private set; }
+
+        public ParameterInfo[] ScriptBaseClassParameters { get; private set; }
+
+        public string[] ScriptReferencedAssemblies { get; private set; }
+
         public Scene World
         {
             get { return m_Scene; }
@@ -277,21 +307,35 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 
             m_ScriptConfig = configSource.Configs["XEngine"];
             m_ConfigSource = configSource;
+
+            string rawScriptStopStrategy = m_ScriptConfig.GetString("ScriptStopStrategy", "abort");
+
+            m_log.InfoFormat("[XEngine]: Script stop strategy is {0}", rawScriptStopStrategy);
+
+            if (rawScriptStopStrategy == "co-op")
+            {
+                ScriptClassName = "XEngineScript";
+                ScriptBaseClassName = typeof(XEngineScriptBase).FullName;
+                ScriptBaseClassParameters = typeof(XEngineScriptBase).GetConstructor(new Type[] { typeof(WaitHandle) }).GetParameters();
+                ScriptReferencedAssemblies = new string[] { Path.GetFileName(typeof(XEngineScriptBase).Assembly.Location) };
+            }
+            else
+            {
+                ScriptClassName = "Script";
+                ScriptBaseClassName = typeof(ScriptBaseClass).FullName;
+            }
+
+//            Console.WriteLine("ASSEMBLY NAME: {0}", ScriptReferencedAssemblies[0]);
         }
 
         public void AddRegion(Scene scene)
         {
             if (m_ScriptConfig == null)
                 return;
+
             m_ScriptFailCount = 0;
             m_ScriptErrorMessage = String.Empty;
 
-            if (m_ScriptConfig == null)
-            {
-//                m_log.ErrorFormat("[XEngine] No script configuration found. Scripts disabled");
-                return;
-            }
-
             m_Enabled = m_ScriptConfig.GetBoolean("Enabled", true);
 
             if (!m_Enabled)
@@ -316,6 +360,9 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             m_EventLimit = m_ScriptConfig.GetInt("EventLimit", 30);
             m_KillTimedOutScripts = m_ScriptConfig.GetBoolean("KillTimedOutScripts", false);
             m_SaveTime = m_ScriptConfig.GetInt("SaveInterval", 120) * 1000;
+            m_WaitForEventCompletionOnScriptStop 
+                = m_ScriptConfig.GetInt("WaitForEventCompletionOnScriptStop", m_WaitForEventCompletionOnScriptStop);
+
             m_ScriptEnginesPath = m_ScriptConfig.GetString("ScriptEnginesPath", "ScriptEngines");
 
             m_Prio = ThreadPriority.BelowNormal;
@@ -364,48 +411,59 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                 OnObjectRemoved += m_XmlRpcRouter.ObjectRemoved;
             }
 
+            m_consoleCommands = new ScriptEngineConsoleCommands(this);
+            m_consoleCommands.RegisterCommands();
+
             MainConsole.Instance.Commands.AddCommand(
                 "Scripts", false, "xengine status", "xengine status", "Show status information",
                 "Show status information on the script engine.",
                 HandleShowStatus);
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "scripts show", "scripts show [<script-item-uuid>]", "Show script information",
-                "Show information on all scripts known to the script engine."
-                    + "If a <script-item-uuid> is given then only information on that script will be shown.",
+                "Scripts", false, "scripts show", "scripts show [<script-item-uuid>+]", "Show script information",
+                "Show information on all scripts known to the script engine.\n"
+                    + "If one or more <script-item-uuid>s are given then only information on that script will be shown.",
                 HandleShowScripts);
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "show scripts", "show scripts [<script-item-uuid>]", "Show script information",
+                "Scripts", false, "show scripts", "show scripts [<script-item-uuid>+]", "Show script information",
                 "Synonym for scripts show command", HandleShowScripts);
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "scripts suspend", "scripts suspend [<script-item-uuid>]", "Suspends all running scripts",
+                "Scripts", false, "scripts suspend", "scripts suspend [<script-item-uuid>+]", "Suspends all running scripts",
                 "Suspends all currently running scripts.  This only suspends event delivery, it will not suspend a"
                     + " script that is currently processing an event.\n"
                     + "Suspended scripts will continue to accumulate events but won't process them.\n"
-                    + "If a <script-item-uuid> is given then only that script will be suspended.  Otherwise, all suitable scripts are suspended.",
+                    + "If one or more <script-item-uuid>s are given then only that script will be suspended.  Otherwise, all suitable scripts are suspended.",
                  (module, cmdparams) => HandleScriptsAction(cmdparams, HandleSuspendScript));
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "scripts resume", "scripts resume [<script-item-uuid>]", "Resumes all suspended scripts",
+                "Scripts", false, "scripts resume", "scripts resume [<script-item-uuid>+]", "Resumes all suspended scripts",
                 "Resumes all currently suspended scripts.\n"
-                    + "Resumed scripts will process all events accumulated whilst suspended."
-                    + "If a <script-item-uuid> is given then only that script will be resumed.  Otherwise, all suitable scripts are resumed.",
+                    + "Resumed scripts will process all events accumulated whilst suspended.\n"
+                    + "If one or more <script-item-uuid>s are given then only that script will be resumed.  Otherwise, all suitable scripts are resumed.",
                 (module, cmdparams) => HandleScriptsAction(cmdparams, HandleResumeScript));
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "scripts stop", "scripts stop [<script-item-uuid>]", "Stops all running scripts",
-                "Stops all running scripts."
-                    + "If a <script-item-uuid> is given then only that script will be stopped.  Otherwise, all suitable scripts are stopped.",
+                "Scripts", false, "scripts stop", "scripts stop [<script-item-uuid>+]", "Stops all running scripts",
+                "Stops all running scripts.\n"
+                    + "If one or more <script-item-uuid>s are given then only that script will be stopped.  Otherwise, all suitable scripts are stopped.",
                 (module, cmdparams) => HandleScriptsAction(cmdparams, HandleStopScript));
 
             MainConsole.Instance.Commands.AddCommand(
-                "Scripts", false, "scripts start", "scripts start [<script-item-uuid>]", "Starts all stopped scripts",
-                "Starts all stopped scripts."
-                    + "If a <script-item-uuid> is given then only that script will be started.  Otherwise, all suitable scripts are started.",
+                "Scripts", false, "scripts start", "scripts start [<script-item-uuid>+]", "Starts all stopped scripts",
+                "Starts all stopped scripts.\n"
+                    + "If one or more <script-item-uuid>s are given then only that script will be started.  Otherwise, all suitable scripts are started.",
                 (module, cmdparams) => HandleScriptsAction(cmdparams, HandleStartScript));
 
+            MainConsole.Instance.Commands.AddCommand(
+                "Scripts", false, "debug scripts log", "debug scripts log <item-id> <log-level>", "Extra debug logging for a script",
+                "Activates or deactivates extra debug logging for the given script.\n"
+                    + "Level == 0, deactivate extra debug logging.\n"
+                    + "Level >= 1, log state changes.\n"
+                    + "Level >= 2, log event invocations.\n",
+                HandleDebugScriptLogCommand);
+
 //            MainConsole.Instance.Commands.AddCommand(
 //                "Debug", false, "debug xengine", "debug xengine [<level>]",
 //                "Turn on detailed xengine debugging.",
@@ -414,6 +472,41 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 //                HandleDebugLevelCommand);
         }
 
+        private void HandleDebugScriptLogCommand(string module, string[] args)
+        {
+            if (!(MainConsole.Instance.ConsoleScene == null || MainConsole.Instance.ConsoleScene == m_Scene))
+                return;
+
+            if (args.Length != 5)
+            {
+                MainConsole.Instance.Output("Usage: debug script log <item-id> <log-level>");
+                return;
+            }
+
+            UUID itemId;
+
+            if (!ConsoleUtil.TryParseConsoleUuid(MainConsole.Instance, args[3], out itemId))
+                return;
+
+            int newLevel;
+
+            if (!ConsoleUtil.TryParseConsoleInt(MainConsole.Instance, args[4], out newLevel))
+                return;
+
+            IScriptInstance si;
+
+            lock (m_Scripts)
+            {
+                // XXX: We can't give the user feedback on a bad item id because this may apply to a different script
+                // engine
+                if (!m_Scripts.TryGetValue(itemId, out si))
+                    return;
+            }
+
+            si.DebugLevel = newLevel;
+            MainConsole.Instance.OutputFormat("Set debug level of {0} {1} to {2}", si.ScriptName, si.ItemID, newLevel);
+        }
+
         /// <summary>
         /// Change debug level
         /// </summary>
@@ -445,9 +538,21 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         /// </summary>
         /// <param name="cmdparams"></param>
         /// <param name="instance"></param>
-        /// <returns>true if we're okay to proceed, false if not.</returns>
+        /// <param name="comparer">Basis on which to sort output.  Can be null if no sort needs to take place</param>
         private void HandleScriptsAction(string[] cmdparams, Action<IScriptInstance> action)
         {
+            HandleScriptsAction<object>(cmdparams, action, null);
+        }
+
+        /// <summary>
+        /// Parse the raw item id into a script instance from the command params if it's present.
+        /// </summary>
+        /// <param name="cmdparams"></param>
+        /// <param name="instance"></param>
+        /// <param name="keySelector">Basis on which to sort output.  Can be null if no sort needs to take place</param>
+        private void HandleScriptsAction<TKey>(
+            string[] cmdparams, Action<IScriptInstance> action, Func<IScriptInstance, TKey> keySelector)
+        {
             if (!(MainConsole.Instance.ConsoleScene == null || MainConsole.Instance.ConsoleScene == m_Scene))
                 return;
 
@@ -458,35 +563,42 @@ namespace OpenSim.Region.ScriptEngine.XEngine
     
                 if (cmdparams.Length == 2)
                 {
-                    foreach (IScriptInstance instance in m_Scripts.Values)
+                    IEnumerable<IScriptInstance> scripts = m_Scripts.Values;
+
+                    if (keySelector != null)
+                        scripts = scripts.OrderBy<IScriptInstance, TKey>(keySelector);
+
+                    foreach (IScriptInstance instance in scripts)
                         action(instance);
 
                     return;
                 }
     
-                rawItemId = cmdparams[2];
-    
-                if (!UUID.TryParse(rawItemId, out itemId))
-                {
-                    MainConsole.Instance.OutputFormat("Error - {0} is not a valid UUID", rawItemId);
-                    return;
-                }
-    
-                if (itemId != UUID.Zero)
+                for (int i = 2; i < cmdparams.Length; i++)
                 {
-                    IScriptInstance instance = GetInstance(itemId);
-                    if (instance == null)
+                    rawItemId = cmdparams[i];
+        
+                    if (!UUID.TryParse(rawItemId, out itemId))
                     {
-                        // Commented out for now since this will cause false reports on simulators with more than
-                        // one scene where the current command line set region is 'root' (which causes commands to
-                        // go to both regions... (sigh)
-//                        MainConsole.Instance.OutputFormat("Error - No item found with id {0}", itemId);
-                        return;
+                        MainConsole.Instance.OutputFormat("ERROR: {0} is not a valid UUID", rawItemId);
+                        continue;
                     }
-                    else
+        
+                    if (itemId != UUID.Zero)
                     {
-                        action(instance);
-                        return;
+                        IScriptInstance instance = GetInstance(itemId);
+                        if (instance == null)
+                        {
+                            // Commented out for now since this will cause false reports on simulators with more than
+                            // one scene where the current command line set region is 'root' (which causes commands to
+                            // go to both regions... (sigh)
+    //                        MainConsole.Instance.OutputFormat("Error - No item found with id {0}", itemId);
+                            continue;
+                        }
+                        else
+                        {
+                            action(instance);
+                        }
                     }
                 }
             }
@@ -505,9 +617,20 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             StringBuilder sb = new StringBuilder();
             sb.AppendFormat("Status of XEngine instance for {0}\n", m_Scene.RegionInfo.RegionName);
 
+            long scriptsLoaded, eventsQueued = 0, eventsProcessed = 0;
+
             lock (m_Scripts)
-                sb.AppendFormat("Scripts loaded             : {0}\n", m_Scripts.Count);
+            {
+                scriptsLoaded = m_Scripts.Count;
 
+                foreach (IScriptInstance si in m_Scripts.Values)
+                {
+                    eventsQueued += si.EventsQueued;
+                    eventsProcessed += si.EventsProcessed;
+                }
+            }
+
+            sb.AppendFormat("Scripts loaded             : {0}\n", scriptsLoaded);
             sb.AppendFormat("Unique scripts             : {0}\n", m_uniqueScripts.Count);
             sb.AppendFormat("Scripts waiting for load   : {0}\n", m_CompileQueue.Count);
             sb.AppendFormat("Max threads                : {0}\n", m_ThreadPool.MaxThreads);
@@ -516,6 +639,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             sb.AppendFormat("In use threads             : {0}\n", m_ThreadPool.InUseThreads);
             sb.AppendFormat("Work items waiting         : {0}\n", m_ThreadPool.WaitingCallbacks);
 //            sb.AppendFormat("Assemblies loaded          : {0}\n", m_Assemblies.Count);
+            sb.AppendFormat("Events queued              : {0}\n", eventsQueued);
+            sb.AppendFormat("Events processed           : {0}\n", eventsProcessed);
 
             SensorRepeat sr = AsyncCommandManager.GetSensorRepeatPlugin(this);
             sb.AppendFormat("Sensors                    : {0}\n", sr != null ? sr.SensorsCount : 0);
@@ -546,7 +671,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                 }
             }
 
-            HandleScriptsAction(cmdparams, HandleShowScript);
+            HandleScriptsAction<long>(cmdparams, HandleShowScript, si => si.EventsProcessed);
         }
 
         private void HandleShowScript(IScriptInstance instance)
@@ -572,15 +697,13 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             }
 
             StringBuilder sb = new StringBuilder();
-            Queue eq = instance.EventQueue;
 
             sb.AppendFormat("Script name         : {0}\n", instance.ScriptName);
             sb.AppendFormat("Status              : {0}\n", status);
-
-            lock (eq)
-                sb.AppendFormat("Queued events       : {0}\n", eq.Count);
-
+            sb.AppendFormat("Queued events       : {0}\n", instance.EventsQueued);
+            sb.AppendFormat("Processed events    : {0}\n", instance.EventsProcessed);
             sb.AppendFormat("Item UUID           : {0}\n", instance.ItemID);
+            sb.AppendFormat("Asset UUID          : {0}\n", instance.AssetID);
             sb.AppendFormat("Containing part name: {0}\n", instance.PrimName);
             sb.AppendFormat("Containing part UUID: {0}\n", instance.ObjectID);
             sb.AppendFormat("Position            : {0}\n", sop.AbsolutePosition);
@@ -1079,7 +1202,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             }
 
             m_log.DebugFormat(
-                "[XEngine] Loading script {0}.{1}, item UUID {2}, prim UUID {3} @ {4}.{5}",
+                "[XEngine]: Loading script {0}.{1}, item UUID {2}, prim UUID {3} @ {4}.{5}",
                 part.ParentGroup.RootPart.Name, item.Name, itemID, part.UUID,
                 part.ParentGroup.RootPart.AbsolutePosition, part.ParentGroup.Scene.RegionInfo.RegionName);
 
@@ -1089,8 +1212,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 
             string assembly = "";
 
-            CultureInfo USCulture = new CultureInfo("en-US");
-            Thread.CurrentThread.CurrentCulture = USCulture;
+            Culture.SetCurrentCulture();
 
             Dictionary<KeyValuePair<int, int>, KeyValuePair<int, int>> linemap;
 
@@ -1101,6 +1223,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                     lock (m_AddingAssemblies)
                     {
                         m_Compiler.PerformScriptCompile(script, assetID.ToString(), item.OwnerID, out assembly, out linemap);
+                        
                         if (!m_AddingAssemblies.ContainsKey(assembly)) {
                             m_AddingAssemblies[assembly] = 1;
                         } else {
@@ -1150,7 +1273,9 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                 }
                 catch (Exception e)
                 {
-//                    m_log.ErrorFormat("[XEngine]: Exception when rezzing script {0}{1}", e.Message, e.StackTrace);
+//                    m_log.ErrorFormat(
+//                        "[XEngine]: Exception when rezzing script with item ID {0}, {1}{2}", 
+//                        itemID, e.Message, e.StackTrace);
 
     //                try
     //                {
@@ -1229,13 +1354,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                             sandbox = AppDomain.CurrentDomain;
                         }
 
-                        //PolicyLevel sandboxPolicy = PolicyLevel.CreateAppDomainLevel();
-                        //AllMembershipCondition sandboxMembershipCondition = new AllMembershipCondition();
-                        //PermissionSet sandboxPermissionSet = sandboxPolicy.GetNamedPermissionSet("Internet");
-                        //PolicyStatement sandboxPolicyStatement = new PolicyStatement(sandboxPermissionSet);
-                        //CodeGroup sandboxCodeGroup = new UnionCodeGroup(sandboxMembershipCondition, sandboxPolicyStatement);
-                        //sandboxPolicy.RootCodeGroup = sandboxCodeGroup;
-                        //sandbox.SetAppDomainPolicy(sandboxPolicy);
+                    if (!instance.Load(m_AppDomains[appDomain], assembly, stateSource))
+                        return false;
 
                         m_AppDomains[appDomain] = sandbox;
 
@@ -1256,12 +1376,11 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                 m_DomainScripts[appDomain].Add(itemID);
 
                 instance = new ScriptInstance(this, part,
-                                              itemID, assetID, assembly,
-                                              m_AppDomains[appDomain],
-                                              part.ParentGroup.RootPart.Name,
-                                              item.Name, startParam, postOnRez,
-                                              stateSource, m_MaxScriptQueue);
+                                              item,
+                                              startParam, postOnRez,
+                                              m_MaxScriptQueue);
 
+                instance.Load(m_AppDomains[appDomain], assembly, stateSource);
 //                m_log.DebugFormat(
 //                        "[XEngine] Loaded script {0}.{1}, script UUID {2}, prim UUID {3} @ {4}.{5}",
 //                        part.ParentGroup.RootPart.Name, item.Name, assetID, part.UUID, 
@@ -1347,9 +1466,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             lockScriptsForWrite(false);
             instance.ClearQueue();
 
-            // Give the script some time to finish processing its last event.  Simply aborting the script thread can
-            // cause issues on mono 2.6, 2.10 and possibly later where locks are not released properly on abort.
-            instance.Stop(1000);
+            instance.Stop(m_WaitForEventCompletionOnScriptStop);
 
 //                bool objectRemoved = false;
 
@@ -1477,7 +1594,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             m_MaxScriptQueue = maxScriptQueue;
 
             STPStartInfo startInfo = new STPStartInfo();
-            startInfo.IdleTimeout = idleTimeout*1000; // convert to seconds as stated in .ini
+            startInfo.ThreadPoolName = "XEngine";
+            startInfo.IdleTimeout = idleTimeout * 1000; // convert to seconds as stated in .ini
             startInfo.MaxWorkerThreads = maxThreads;
             startInfo.MinWorkerThreads = minThreads;
             startInfo.ThreadPriority = threadPriority;;
@@ -1504,8 +1622,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         /// <returns></returns>
         private object ProcessEventHandler(object parms)
         {
-            CultureInfo USCulture = new CultureInfo("en-US");
-            Thread.CurrentThread.CurrentCulture = USCulture;
+            Culture.SetCurrentCulture();
 
             IScriptInstance instance = (ScriptInstance) parms;
             
@@ -1693,7 +1810,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         {
             IScriptInstance instance = GetInstance(itemID);
             if (instance != null)
-                instance.ResetScript();
+                instance.ResetScript(m_WaitForEventCompletionOnScriptStop);
         }
 
         public void StartScript(UUID itemID)
@@ -1708,14 +1825,14 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         public void StopScript(UUID itemID)
         {
             IScriptInstance instance = GetInstance(itemID);
+
             if (instance != null)
             {
-                // Give the script some time to finish processing its last event.  Simply aborting the script thread can
-                // cause issues on mono 2.6, 2.10 and possibly later where locks are not released properly on abort.
-                instance.Stop(1000);
+                instance.Stop(m_WaitForEventCompletionOnScriptStop);
             }
             else
             {
+//                m_log.DebugFormat("[XENGINE]: Could not find script with ID {0} to stop in {1}", itemID, World.Name);
                 m_runFlags.AddOrUpdate(itemID, false, 240);
             }
         }
diff --git a/OpenSim/Region/ScriptEngine/XEngine/XWorkItem.cs b/OpenSim/Region/ScriptEngine/XEngine/XWorkItem.cs
index 2ac5c31..8dd7677 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/XWorkItem.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/XWorkItem.cs
@@ -57,8 +57,12 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             wr.Abort();
         }
 
-        public bool Wait(TimeSpan t)
+        public bool Wait(int t)
         {
+            // We use the integer version of WaitAll because the current version of SmartThreadPool has a bug with the
+            // TimeSpan version.  The number of milliseconds in TimeSpan is an int64 so when STP casts it down to an 
+            // int (32-bit) we can end up with bad values.  This occurs on Windows though curious not on Mono 2.10.8
+            // (or very likely other versions of Mono at least up until 3.0.3).
             return SmartThreadPool.WaitAll(new IWorkItemResult[] {wr}, t, false);
         }
     }
diff --git a/OpenSim/Region/UserStatistics/ActiveConnectionsAJAX.cs b/OpenSim/Region/UserStatistics/ActiveConnectionsAJAX.cs
index 3243a9a..6a1112c 100644
--- a/OpenSim/Region/UserStatistics/ActiveConnectionsAJAX.cs
+++ b/OpenSim/Region/UserStatistics/ActiveConnectionsAJAX.cs
@@ -32,6 +32,7 @@ using System.Reflection;
 using System.Text;
 using Mono.Data.SqliteClient;
 using OpenMetaverse;
+using OpenMetaverse.StructuredData;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Framework.Monitoring;
@@ -51,7 +52,6 @@ namespace OpenSim.Region.UserStatistics
 
         public Hashtable ProcessModel(Hashtable pParams)
         {
-            
             List<Scene> m_scene = (List<Scene>)pParams["Scenes"];
 
             Hashtable nh = new Hashtable();
@@ -129,6 +129,86 @@ namespace OpenSim.Region.UserStatistics
             return output.ToString();
         }
 
+        /// <summary>
+        /// Convert active connections information to JSON string. Returns a structure:
+        /// <pre>
+        /// {"regionName": {
+        ///     "presenceName": {
+        ///         "name": "presenceName",
+        ///         "position": "<x,y,z>",
+        ///         "isRoot": "false",
+        ///         "throttle": {
+        ///         },
+        ///         "queue": {
+        ///         }
+        ///     },
+        ///     ... // multiple presences in the scene
+        ///   },
+        ///   ...   // multiple regions in the sim
+        /// }
+        ///
+        /// </pre>
+        /// </summary>
+        /// <param name="pModelResult"></param>
+        /// <returns></returns>
+        public string RenderJson(Hashtable pModelResult)
+        {
+            List<Scene> all_scenes = (List<Scene>) pModelResult["hdata"];
+
+            OSDMap regionInfo = new OSDMap();
+            foreach (Scene scene in all_scenes)
+            {
+                OSDMap sceneInfo = new OpenMetaverse.StructuredData.OSDMap();
+                List<ScenePresence> avatarInScene = scene.GetScenePresences();
+                foreach (ScenePresence av in avatarInScene)
+                {
+                    OSDMap presenceInfo = new OSDMap();
+                    presenceInfo.Add("Name", new OSDString(av.Name));
+
+                    Dictionary<string,string> queues = new Dictionary<string, string>();
+                    if (av.ControllingClient is IStatsCollector)
+                    {
+                        IStatsCollector isClient = (IStatsCollector) av.ControllingClient;
+                        queues = decodeQueueReport(isClient.Report());
+                    }
+                    OSDMap queueInfo = new OpenMetaverse.StructuredData.OSDMap();
+                    foreach (KeyValuePair<string, string> kvp in queues) {
+                        queueInfo.Add(kvp.Key, new OSDString(kvp.Value));
+                    }
+                    sceneInfo.Add("queues", queueInfo);
+
+                    if (av.IsChildAgent)
+                        presenceInfo.Add("isRoot", new OSDString("false"));
+                    else
+                        presenceInfo.Add("isRoot", new OSDString("true"));
+
+                    if (av.AbsolutePosition == DefaultNeighborPosition)
+                    {
+                        presenceInfo.Add("position", new OSDString("<0, 0, 0>"));
+                    }
+                    else
+                    {
+                        presenceInfo.Add("position", new OSDString(string.Format("<{0},{1},{2}>",
+                                                    (int)av.AbsolutePosition.X,
+                                                    (int) av.AbsolutePosition.Y,
+                                                    (int) av.AbsolutePosition.Z)) );
+                    }
+
+                    Dictionary<string, int> throttles = DecodeClientThrottles(av.ControllingClient.GetThrottlesPacked(1));
+                    OSDMap throttleInfo = new OpenMetaverse.StructuredData.OSDMap();
+                    foreach (string throttlename in throttles.Keys)
+                    {
+                        throttleInfo.Add(throttlename, new OSDString(throttles[throttlename].ToString()));
+                    }
+                    presenceInfo.Add("throttle", throttleInfo);
+
+                    sceneInfo.Add(av.Name, presenceInfo);
+                }
+                regionInfo.Add(scene.RegionInfo.RegionName, sceneInfo);
+            }
+            return regionInfo.ToString();
+        }
+
         public Dictionary<string, int> DecodeClientThrottles(byte[] throttle)
         {
             Dictionary<string, int> returndict = new Dictionary<string, int>();
@@ -203,7 +283,7 @@ namespace OpenSim.Region.UserStatistics
                 returndic.Add("Cloud", rep.Substring((7 * pos) , 8)); pos++;
                 returndic.Add("Task", rep.Substring((7 * pos) , 8)); pos++;
                 returndic.Add("Texture", rep.Substring((7 * pos), 8)); pos++;
-                returndic.Add("Asset", rep.Substring((7 * pos), 8)); 
+                returndic.Add("Asset", rep.Substring((7 * pos), 8));
                 /*
                  * return string.Format("{0,7} {1,7} {2,7} {3,7} {4,7} {5,7} {6,7} {7,7} {8,7} {9,7}",
                                  SendQueue.Count(),
diff --git a/OpenSim/Region/UserStatistics/Clients_report.cs b/OpenSim/Region/UserStatistics/Clients_report.cs
index b2bb33b..4a6f7be 100644
--- a/OpenSim/Region/UserStatistics/Clients_report.cs
+++ b/OpenSim/Region/UserStatistics/Clients_report.cs
@@ -31,6 +31,7 @@ using System.Collections.Generic;
 using System.Text;
 using Mono.Data.SqliteClient;
 using OpenMetaverse;
+using OpenMetaverse.StructuredData;
 using OpenSim.Region.Framework.Scenes;
 
 namespace OpenSim.Region.UserStatistics
@@ -44,6 +45,32 @@ namespace OpenSim.Region.UserStatistics
             get { return "Client"; }
         }
 
+        /// <summary>
+        /// Return summar information in the form:
+        /// <pre>
+        /// {"totalUsers": "34",
+        ///  "totalSessions": "233",
+        ///  ...
+        /// }
+        /// </pre>
+        /// </summary>
+        /// <param name="pModelResult"></param>
+        /// <returns></returns>
+        public string RenderJson(Hashtable pModelResult) {
+            stats_default_page_values values = (stats_default_page_values) pModelResult["hdata"];
+
+            OSDMap summaryInfo = new OpenMetaverse.StructuredData.OSDMap();
+            summaryInfo.Add("totalUsers", new OSDString(values.total_num_users.ToString()));
+            summaryInfo.Add("totalSessions", new OSDString(values.total_num_sessions.ToString()));
+            summaryInfo.Add("averageClientFPS", new OSDString(values.avg_client_fps.ToString()));
+            summaryInfo.Add("averageClientMem", new OSDString(values.avg_client_mem_use.ToString()));
+            summaryInfo.Add("averageSimFPS", new OSDString(values.avg_sim_fps.ToString()));
+            summaryInfo.Add("averagePingTime", new OSDString(values.avg_ping.ToString()));
+            summaryInfo.Add("totalKBOut", new OSDString(values.total_kb_out.ToString()));
+            summaryInfo.Add("totalKBIn", new OSDString(values.total_kb_in.ToString()));
+            return summaryInfo.ToString();
+        }
+
         public Hashtable ProcessModel(Hashtable pParams)
         {
             SqliteConnection dbConn = (SqliteConnection)pParams["DatabaseConnection"];
diff --git a/OpenSim/Region/UserStatistics/Default_Report.cs b/OpenSim/Region/UserStatistics/Default_Report.cs
index cdc615c..fabe3d4 100644
--- a/OpenSim/Region/UserStatistics/Default_Report.cs
+++ b/OpenSim/Region/UserStatistics/Default_Report.cs
@@ -32,6 +32,7 @@ using System.Reflection;
 using System.Text;
 using Mono.Data.SqliteClient;
 using OpenMetaverse;
+using OpenMetaverse.StructuredData;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Framework.Monitoring;
 
@@ -230,6 +231,31 @@ TD.align_top { vertical-align: top; }
             return returnstruct;
         }
 
+        /// <summary>
+        /// Return summar information in the form:
+        /// <pre>
+        /// {"totalUsers": "34",
+        ///  "totalSessions": "233",
+        ///  ...
+        /// }
+        /// </pre>
+        /// </summary>
+        /// <param name="pModelResult"></param>
+        /// <returns></returns>
+        public string RenderJson(Hashtable pModelResult) {
+            stats_default_page_values values = (stats_default_page_values) pModelResult["hdata"];
+
+            OSDMap summaryInfo = new OSDMap();
+            summaryInfo.Add("totalUsers", new OSDString(values.total_num_users.ToString()));
+            summaryInfo.Add("totalSessions", new OSDString(values.total_num_sessions.ToString()));
+            summaryInfo.Add("averageClientFPS", new OSDString(values.avg_client_fps.ToString()));
+            summaryInfo.Add("averageClientMem", new OSDString(values.avg_client_mem_use.ToString()));
+            summaryInfo.Add("averageSimFPS", new OSDString(values.avg_sim_fps.ToString()));
+            summaryInfo.Add("averagePingTime", new OSDString(values.avg_ping.ToString()));
+            summaryInfo.Add("totalKBOut", new OSDString(values.total_kb_out.ToString()));
+            summaryInfo.Add("totalKBIn", new OSDString(values.total_kb_in.ToString()));
+            return summaryInfo.ToString();
+        }
     }
 
     public struct stats_default_page_values
@@ -247,4 +273,5 @@ TD.align_top { vertical-align: top; }
         public Dictionary<UUID, USimStatsData> sim_stat_data;
         public Dictionary<string, IStatsController> stats_reports;
     }
+ 
 }
diff --git a/OpenSim/Region/UserStatistics/IStatsReport.cs b/OpenSim/Region/UserStatistics/IStatsReport.cs
index e0ecce4..80c4487 100644
--- a/OpenSim/Region/UserStatistics/IStatsReport.cs
+++ b/OpenSim/Region/UserStatistics/IStatsReport.cs
@@ -34,5 +34,6 @@ namespace OpenSim.Region.UserStatistics
         string ReportName { get; }
         Hashtable ProcessModel(Hashtable pParams);
         string RenderView(Hashtable pModelResult);
+        string RenderJson(Hashtable pModelResult);
     }
 }
diff --git a/OpenSim/Region/UserStatistics/LogLinesAJAX.cs b/OpenSim/Region/UserStatistics/LogLinesAJAX.cs
index 74de46b..4d45b80 100644
--- a/OpenSim/Region/UserStatistics/LogLinesAJAX.cs
+++ b/OpenSim/Region/UserStatistics/LogLinesAJAX.cs
@@ -33,6 +33,7 @@ using System.Text;
 using System.Text.RegularExpressions;
 using Mono.Data.SqliteClient;
 using OpenMetaverse;
+using OpenMetaverse.StructuredData;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Framework.Monitoring;
 
@@ -125,6 +126,34 @@ namespace OpenSim.Region.UserStatistics
             return output.ToString();
         }
 
+        /// <summary>
+        /// Return the last log lines. Output in the format:
+        /// <pre>
+        /// {"logLines": [
+        /// "line1",
+        /// "line2",
+        /// ...
+        /// ]
+        /// }
+        /// </pre>
+        /// </summary>
+        /// <param name="pModelResult"></param>
+        /// <returns></returns>
+        public string RenderJson(Hashtable pModelResult)
+        {
+            OSDMap logInfo = new OpenMetaverse.StructuredData.OSDMap();
+
+            OSDArray logLines = new OpenMetaverse.StructuredData.OSDArray();
+            string tmp = normalizeEndLines.Replace(pModelResult["loglines"].ToString(), "\n");
+            string[] result = Regex.Split(tmp, "\n");
+            for (int i = 0; i < result.Length; i++)
+            {
+                logLines.Add(new OSDString(result[i]));
+            }
+            logInfo.Add("logLines", logLines);
+            return logInfo.ToString();
+        }
+
         #endregion
     }
 }
diff --git a/OpenSim/Region/UserStatistics/Properties/AssemblyInfo.cs b/OpenSim/Region/UserStatistics/Properties/AssemblyInfo.cs
index 100cf99..caa6d4e 100644
--- a/OpenSim/Region/UserStatistics/Properties/AssemblyInfo.cs
+++ b/OpenSim/Region/UserStatistics/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/UserStatistics/Prototype_distributor.cs b/OpenSim/Region/UserStatistics/Prototype_distributor.cs
index 53ae557..6f8b2aa 100644
--- a/OpenSim/Region/UserStatistics/Prototype_distributor.cs
+++ b/OpenSim/Region/UserStatistics/Prototype_distributor.cs
@@ -36,7 +36,18 @@ namespace OpenSim.Region.UserStatistics
 {
     public class Prototype_distributor : IStatsController
     {
-        private string prototypejs=string.Empty;
+        private string jsFileName = "prototype.js";
+        private string prototypejs = string.Empty;
+
+        public Prototype_distributor()
+        {
+            jsFileName = "prototype.js";
+        }
+
+        public Prototype_distributor(string jsName) 
+        {
+            jsFileName = jsName;
+        }
 
         public string ReportName
         {
@@ -45,20 +56,24 @@ namespace OpenSim.Region.UserStatistics
         public Hashtable ProcessModel(Hashtable pParams)
         {
             Hashtable pResult = new Hashtable();
-            if (prototypejs.Length == 0)
+            pResult["js"] = jsFileName;
+            return pResult;
+        }
+
+        public string RenderView(Hashtable pModelResult)
+        {
+            string fileName = (string)pModelResult["js"];
+            using (StreamReader fs = new StreamReader(new FileStream(Util.dataDir() + "/data/" + fileName, FileMode.Open)))
             {
-                StreamReader fs = new StreamReader(new FileStream(Util.dataDir() + "/data/prototype.js", FileMode.Open));
                 prototypejs = fs.ReadToEnd();
                 fs.Close();
-                fs.Dispose();
             }
-            pResult["js"] = prototypejs;
-            return pResult;
+            return prototypejs;
         }
 
-        public string RenderView(Hashtable pModelResult)
+        public string RenderJson(Hashtable pModelResult)
         {
-            return pModelResult["js"].ToString();
+            return "{}";
         }
 
     }
diff --git a/OpenSim/Region/UserStatistics/Sessions_Report.cs b/OpenSim/Region/UserStatistics/Sessions_Report.cs
index 1a2d460..0e94912 100644
--- a/OpenSim/Region/UserStatistics/Sessions_Report.cs
+++ b/OpenSim/Region/UserStatistics/Sessions_Report.cs
@@ -278,6 +278,11 @@ TD.align_top { vertical-align: top; }
             public DateTime start_time;
         }
 
+        public string RenderJson(Hashtable pModelResult)
+        {
+            return "{}";
+        }
         #endregion
     }
+
 }
diff --git a/OpenSim/Region/UserStatistics/SimStatsAJAX.cs b/OpenSim/Region/UserStatistics/SimStatsAJAX.cs
index 28051fb..ad848a1 100644
--- a/OpenSim/Region/UserStatistics/SimStatsAJAX.cs
+++ b/OpenSim/Region/UserStatistics/SimStatsAJAX.cs
@@ -32,6 +32,7 @@ using System.Reflection;
 using System.Text;
 using Mono.Data.SqliteClient;
 using OpenMetaverse;
+using OpenMetaverse.StructuredData;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Framework.Monitoring;
 
@@ -218,6 +219,64 @@ namespace OpenSim.Region.UserStatistics
             return output.ToString();
         }
 
+        /// <summary>
+        /// Return stat information for all regions in the sim. Returns data of the form:
+        /// <pre>
+        /// {"REGIONNAME": {
+        ///     "region": "REGIONNAME",
+        ///     "timeDilation": "101", 
+        ///     ...     // the rest of the stat info
+        ///     },
+        ///  ...    // entries for each region
+        ///  }
+        /// </pre>
+        /// </summary>
+        /// <param name="pModelResult"></param>
+        /// <returns></returns>
+        public string RenderJson(Hashtable pModelResult)
+        {
+            List<Scene> all_scenes = (List<Scene>) pModelResult["hdata"];
+            Dictionary<UUID, USimStatsData> sdatadic = (Dictionary<UUID,USimStatsData>)pModelResult["simstats"];
+
+            OSDMap allStatsInfo = new OpenMetaverse.StructuredData.OSDMap();
+            foreach (USimStatsData sdata in sdatadic.Values)
+            {
+                OSDMap statsInfo = new OpenMetaverse.StructuredData.OSDMap();
+                string regionName = "unknown";
+                foreach (Scene sn in all_scenes)
+                {
+                    if (sn.RegionInfo.RegionID == sdata.RegionId)
+                    {
+                        regionName = sn.RegionInfo.RegionName;
+                        break;
+                    }
+                }
+                statsInfo.Add("region", new OSDString(regionName));
+                statsInfo.Add("timeDilation", new OSDString(sdata.TimeDilation.ToString()));
+                statsInfo.Add("simFPS", new OSDString(sdata.SimFps.ToString()));
+                statsInfo.Add("physicsFPS", new OSDString(sdata.PhysicsFps.ToString()));
+                statsInfo.Add("agentUpdates", new OSDString(sdata.AgentUpdates.ToString()));
+                statsInfo.Add("rootAgents", new OSDString(sdata.RootAgents.ToString()));
+                statsInfo.Add("childAgents", new OSDString(sdata.ChildAgents.ToString()));
+                statsInfo.Add("totalPrims", new OSDString(sdata.TotalPrims.ToString()));
+                statsInfo.Add("activePrims", new OSDString(sdata.ActivePrims.ToString()));
+                statsInfo.Add("activeScripts", new OSDString(sdata.ActiveScripts.ToString()));
+                statsInfo.Add("scriptLinesPerSec", new OSDString(sdata.ScriptLinesPerSecond.ToString()));
+                statsInfo.Add("totalFrameTime", new OSDString(sdata.TotalFrameTime.ToString()));
+                statsInfo.Add("agentFrameTime", new OSDString(sdata.AgentFrameTime.ToString()));
+                statsInfo.Add("physicsFrameTime", new OSDString(sdata.PhysicsFrameTime.ToString()));
+                statsInfo.Add("otherFrameTime", new OSDString(sdata.OtherFrameTime.ToString()));
+                statsInfo.Add("outPacketsPerSec", new OSDString(sdata.OutPacketsPerSecond.ToString()));
+                statsInfo.Add("inPacketsPerSec", new OSDString(sdata.InPacketsPerSecond.ToString()));
+                statsInfo.Add("unackedByptes", new OSDString(sdata.UnackedBytes.ToString()));
+                statsInfo.Add("pendingDownloads", new OSDString(sdata.PendingDownloads.ToString()));
+                statsInfo.Add("pendingUploads", new OSDString(sdata.PendingUploads.ToString()));
+
+                allStatsInfo.Add(regionName, statsInfo);
+            }
+            return allStatsInfo.ToString();
+        }
+
         #endregion
     }
 }
diff --git a/OpenSim/Region/UserStatistics/Updater_distributor.cs b/OpenSim/Region/UserStatistics/Updater_distributor.cs
index 9593cc9..601e06b 100644
--- a/OpenSim/Region/UserStatistics/Updater_distributor.cs
+++ b/OpenSim/Region/UserStatistics/Updater_distributor.cs
@@ -62,5 +62,9 @@ namespace OpenSim.Region.UserStatistics
             return pModelResult["js"].ToString();
         }
 
+        public string RenderJson(Hashtable pModelResult) {
+            return "{}";
+        }
+
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Region/UserStatistics/WebStatsModule.cs b/OpenSim/Region/UserStatistics/WebStatsModule.cs
index b08233c..b98b762 100644
--- a/OpenSim/Region/UserStatistics/WebStatsModule.cs
+++ b/OpenSim/Region/UserStatistics/WebStatsModule.cs
@@ -94,8 +94,6 @@ namespace OpenSim.Region.UserStatistics
             if (!enabled)
                 return;
 
-            AddEventHandlers();
-
             if (Util.IsWindows())
                 Util.LoadArchSpecificWindowsDll("sqlite3.dll");
 
@@ -123,6 +121,10 @@ namespace OpenSim.Region.UserStatistics
             reports.Add("clients.report", clientReport);
             reports.Add("sessions.report", sessionsReport);
 
+            reports.Add("sim.css", new Prototype_distributor("sim.css"));
+            reports.Add("sim.html", new Prototype_distributor("sim.html"));
+            reports.Add("jquery.js", new Prototype_distributor("jquery.js"));
+
             ////
             // Add Your own Reports here (Do Not Modify Lines here Devs!)
             ////
@@ -143,10 +145,14 @@ namespace OpenSim.Region.UserStatistics
             lock (m_scenes)
             {
                 m_scenes.Add(scene);
-                if (m_simstatsCounters.ContainsKey(scene.RegionInfo.RegionID))
-                    m_simstatsCounters.Remove(scene.RegionInfo.RegionID);
+                updateLogMod = m_scenes.Count * 2;
 
                 m_simstatsCounters.Add(scene.RegionInfo.RegionID, new USimStatsData(scene.RegionInfo.RegionID));
+
+                scene.EventManager.OnRegisterCaps += OnRegisterCaps;
+                scene.EventManager.OnDeregisterCaps += OnDeRegisterCaps;
+                scene.EventManager.OnClientClosed += OnClientClosed;
+                scene.EventManager.OnMakeRootAgent += OnMakeRootAgent;
                 scene.StatsReporter.OnSendStatsResult += ReceiveClassicSimStatsPacket;
             }
         }
@@ -157,6 +163,15 @@ namespace OpenSim.Region.UserStatistics
 
         public void RemoveRegion(Scene scene)
         {
+            if (!enabled)
+                return;
+
+            lock (m_scenes)
+            {
+                m_scenes.Remove(scene);
+                updateLogMod = m_scenes.Count * 2;
+                m_simstatsCounters.Remove(scene.RegionInfo.RegionID);
+            }
         }
 
         public virtual void Close()
@@ -187,9 +202,7 @@ namespace OpenSim.Region.UserStatistics
         private void ReceiveClassicSimStatsPacket(SimStats stats)
         {
             if (!enabled)
-            {
                 return;
-            }
 
             try
             {
@@ -198,17 +211,25 @@ namespace OpenSim.Region.UserStatistics
                 if (concurrencyCounter > 0 || System.Environment.TickCount - lastHit > 30000)
                     return;
 
-                if ((updateLogCounter++ % updateLogMod) == 0)
+                // We will conduct this under lock so that fields such as updateLogCounter do not potentially get
+                // confused if a scene is removed.
+                // XXX: Possibly the scope of this lock could be reduced though it's not critical.
+                lock (m_scenes)
                 {
-                    m_loglines = readLogLines(10);
-                    if (updateLogCounter > 10000) updateLogCounter = 1;
-                }
+                    if (updateLogMod != 0 && updateLogCounter++ % updateLogMod == 0)
+                    {
+                        m_loglines = readLogLines(10);
+
+                        if (updateLogCounter > 10000) 
+                            updateLogCounter = 1;
+                    }
 
-                USimStatsData ss = m_simstatsCounters[stats.RegionUUID];
+                    USimStatsData ss = m_simstatsCounters[stats.RegionUUID];
 
-                if ((++ss.StatsCounter % updateStatsMod) == 0)
-                {
-                    ss.ConsumeSimStats(stats);
+                    if ((++ss.StatsCounter % updateStatsMod) == 0)
+                    {
+                        ss.ConsumeSimStats(stats);
+                    }
                 }
             } 
             catch (KeyNotFoundException)
@@ -238,9 +259,12 @@ namespace OpenSim.Region.UserStatistics
             string regpath = request["uri"].ToString();
             int response_code = 404;
             string contenttype = "text/html";
+            bool jsonFormatOutput = false;
             
             string strOut = string.Empty;
 
+            // The request patch should be "/SStats/reportName" where 'reportName'
+            // is one of the names added to the 'reports' hashmap.
             regpath = regpath.Remove(0, 8);
             if (regpath.Length == 0) regpath = "default.report";
             if (reports.ContainsKey(regpath))
@@ -248,6 +272,9 @@ namespace OpenSim.Region.UserStatistics
                 IStatsController rep = reports[regpath];
                 Hashtable repParams = new Hashtable();
 
+                if (request.ContainsKey("json"))
+                    jsonFormatOutput = true;
+
                 if (request.ContainsKey("requestvars"))
                     repParams["RequestVars"] = request["requestvars"];
                 else
@@ -267,13 +294,26 @@ namespace OpenSim.Region.UserStatistics
                 
                 concurrencyCounter++;
 
-                strOut = rep.RenderView(rep.ProcessModel(repParams));
+                if (jsonFormatOutput) 
+                {
+                    strOut = rep.RenderJson(rep.ProcessModel(repParams));
+                    contenttype = "text/json";
+                }
+                else 
+                {
+                    strOut = rep.RenderView(rep.ProcessModel(repParams));
+                }
 
                 if (regpath.EndsWith("js"))
                 {
                     contenttype = "text/javascript";
                 }
 
+                if (regpath.EndsWith("css"))
+                {
+                    contenttype = "text/css";
+                }
+
                 concurrencyCounter--;
                 
                 response_code = 200;
@@ -380,7 +420,7 @@ namespace OpenSim.Region.UserStatistics
             Encoding encoding = Encoding.ASCII;
             int sizeOfChar = encoding.GetByteCount("\n");
             byte[] buffer = encoding.GetBytes("\n");
-            string logfile = Util.logDir() + "/" + "OpenSim.log"; 
+            string logfile = Util.logFile();
             FileStream fs = new FileStream(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite);
             Int64 tokenCount = 0;
             Int64 endPosition = fs.Length / sizeOfChar;
diff --git a/OpenSim/Server/Base/CommandManager.cs b/OpenSim/Server/Base/CommandManager.cs
new file mode 100644
index 0000000..bd18485
--- /dev/null
+++ b/OpenSim/Server/Base/CommandManager.cs
@@ -0,0 +1,359 @@
+/*
+ * 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.Text;
+using System.Linq;
+using System.Collections;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using Mono.Addins.Setup;
+using Mono.Addins;
+using Mono.Addins.Description;
+using OpenSim.Framework;
+
+namespace OpenSim.Server.Base
+{
+    /// <summary>
+    /// Command manager -
+    /// Wrapper for OpenSim.Framework.PluginManager to allow 
+    /// us to add commands to the console to perform operations
+    /// on our repos and plugins
+    /// </summary>
+        public class CommandManager
+        {
+                public AddinRegistry PluginRegistry;
+                protected PluginManager PluginManager;
+
+                public CommandManager(AddinRegistry registry)
+        {
+                        PluginRegistry = registry;
+                        PluginManager = new PluginManager(PluginRegistry);
+                        AddManagementCommands();
+                }
+
+                private void AddManagementCommands()
+                {
+                        // add plugin
+                        MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin add", "plugin add \"plugin index\"",
+                                                                 "Install plugin from repository.",
+                                                     HandleConsoleInstallPlugin);
+
+                        // remove plugin
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin remove", "plugin remove \"plugin index\"",
+                                                                 "Remove plugin from repository",
+                                                     HandleConsoleUnInstallPlugin);
+
+                        // list installed plugins
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin list installed", 
+                                                                 "plugin list installed","List install plugins",
+                                                     HandleConsoleListInstalledPlugin);
+
+                        // list plugins available from registered repositories
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin list available",
+                                                                 "plugin list available","List available plugins",
+                                                     HandleConsoleListAvailablePlugin);
+                        // List available updates
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin updates", "plugin updates","List availble updates",
+                                                     HandleConsoleListUpdates);
+
+                        // Update plugin
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin update", "plugin update \"plugin index\"","Update the plugin",
+                                                     HandleConsoleUpdatePlugin);
+
+                        // Add repository
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo add", "repo add \"url\"","Add repository",
+                                                     HandleConsoleAddRepo);
+
+                        // Refresh repo
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo refresh", "repo refresh \"url\"", "Sync with a registered repository",
+                                                     HandleConsoleGetRepo);
+
+                        // Remove repository from registry
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo remove",
+                                                                 "repo remove \"[url | index]\"",
+                                                                 "Remove repository from registry",
+                                                     HandleConsoleRemoveRepo);
+
+                        // Enable repo
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo enable", "repo enable \"[url | index]\"",
+                                                                 "Enable registered repository",
+                                                     HandleConsoleEnableRepo);
+
+                        // Disable repo
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo disable", "repo disable\"[url | index]\"",
+                                                                 "Disable registered repository",
+                                                     HandleConsoleDisableRepo);
+
+                        // List registered repositories
+            MainConsole.Instance.Commands.AddCommand("Repository", true,
+                                                     "repo list", "repo list",
+                                                                 "List registered repositories",
+                                                     HandleConsoleListRepos);
+
+                        // *
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin info", "plugin info \"plugin index\"","Show detailed information for plugin",
+                                                     HandleConsoleShowAddinInfo);
+
+                        // Plugin disable
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin disable", "plugin disable \"plugin index\"",
+                                                                 "Disable a plugin",
+                                                     HandleConsoleDisablePlugin);
+
+                        // Enable plugin
+            MainConsole.Instance.Commands.AddCommand("Plugin", true,
+                                                     "plugin enable", "plugin enable \"plugin index\"",
+                                                                 "Enable the selected plugin plugin",
+                                                     HandleConsoleEnablePlugin);
+        }
+                
+        #region console handlers
+        // Handle our console commands
+        //
+        // Install plugin from registered repository
+        /// <summary>
+        /// Handles the console install plugin command. Attempts to install the selected plugin
+        /// and 
+        /// </summary>
+        /// <param name='module'>
+        /// Module.
+        /// </param>
+        /// <param name='cmd'>
+        /// Cmd.
+        /// </param>
+        private void HandleConsoleInstallPlugin(string module, string[] cmd)
+        {
+            Dictionary<string, object> result = new Dictionary<string, object>();
+
+            if (cmd.Length == 3)
+            {
+                int ndx = Convert.ToInt16(cmd[2]);
+                if (PluginManager.InstallPlugin(ndx, out result) == true)
+                {
+                    ArrayList s = new ArrayList();
+                    s.AddRange(result.Keys);
+                    s.Sort();
+
+                    var list = result.Keys.ToList();
+                    list.Sort();
+                    foreach (var k in list)
+                    {
+                        Dictionary<string, object> plugin = (Dictionary<string, object>)result[k];
+                        bool enabled = (bool)plugin["enabled"];
+                        MainConsole.Instance.OutputFormat("{0}) {1} {2} rev. {3}",
+                                                  k,
+                                                  enabled == true ? "[ ]" : "[X]",
+                                                  plugin["name"], plugin["version"]);
+                    }
+                }
+            }
+            return;
+        }
+
+        // Remove installed plugin
+        private void HandleConsoleUnInstallPlugin(string module, string[] cmd)
+        {
+            if (cmd.Length == 3)
+            {
+                int ndx = Convert.ToInt16(cmd[2]);
+                PluginManager.UnInstall(ndx);
+            }
+            return;
+        }
+
+        // List installed plugins
+        private void HandleConsoleListInstalledPlugin(string module, string[] cmd)
+        {
+            Dictionary<string, object> result = new Dictionary<string, object>();
+            PluginManager.ListInstalledAddins(out result);
+
+            ArrayList s = new ArrayList();
+            s.AddRange(result.Keys);
+            s.Sort();
+
+            var list = result.Keys.ToList();
+            list.Sort();
+            foreach (var k in list)
+            {
+                Dictionary<string, object> plugin = (Dictionary<string, object>)result[k];
+                bool enabled = (bool)plugin["enabled"];
+                MainConsole.Instance.OutputFormat("{0}) {1} {2} rev. {3}",
+                                                  k,
+                                                  enabled == true ? "[ ]" : "[X]",
+                                                  plugin["name"], plugin["version"]);
+            }
+            return;
+        }
+
+        // List available plugins on registered repositories
+        private void HandleConsoleListAvailablePlugin(string module, string[] cmd)
+        {
+            Dictionary<string, object> result = new Dictionary<string, object>();
+            PluginManager.ListAvailable(out result);
+
+            var list = result.Keys.ToList();
+            list.Sort();
+            foreach (var k in list)
+            {
+                // name, version, repository
+                Dictionary<string, object> plugin = (Dictionary<string, object>)result[k];
+                MainConsole.Instance.OutputFormat("{0}) {1} rev. {2} {3}",
+                                                  k,
+                                                  plugin["name"],
+                                                  plugin["version"],
+                                                  plugin["repository"]);
+            }
+            return;
+        }
+
+        // List available updates **not ready
+        private void HandleConsoleListUpdates(string module, string[] cmd)
+        {
+            PluginManager.ListUpdates();
+            return;
+        }
+
+        // Update plugin **not ready
+        private void HandleConsoleUpdatePlugin(string module, string[] cmd)
+        {
+            MainConsole.Instance.Output(PluginManager.Update());
+            return;
+        }
+
+        // Register repository
+        private void HandleConsoleAddRepo(string module, string[] cmd)
+        {
+            if ( cmd.Length == 3)
+            {
+                PluginManager.AddRepository(cmd[2]);
+            }
+            return;
+        }
+
+        // Get repository status **not working
+        private void HandleConsoleGetRepo(string module, string[] cmd)
+        {
+            PluginManager.GetRepository();
+            return;
+        }
+
+        // Remove registered repository
+        private void HandleConsoleRemoveRepo(string module, string[] cmd)
+        {
+            if (cmd.Length == 3)
+                PluginManager.RemoveRepository(cmd);
+            return;
+        }
+
+        // Enable repository
+        private void HandleConsoleEnableRepo(string module, string[] cmd)
+        {
+            PluginManager.EnableRepository(cmd);
+            return;
+        }
+
+        // Disable repository
+        private void HandleConsoleDisableRepo(string module, string[] cmd)
+        {
+            PluginManager.DisableRepository(cmd);
+            return;
+        }
+
+        // List repositories
+        private void HandleConsoleListRepos(string module, string[] cmd)
+        {
+            Dictionary<string, object> result = new Dictionary<string, object>();
+            PluginManager.ListRepositories(out result);
+
+            var list = result.Keys.ToList();
+            list.Sort();
+            foreach (var k in list)
+            {
+                Dictionary<string, object> repo = (Dictionary<string, object>)result[k];
+                bool enabled = (bool)repo["enabled"];
+                MainConsole.Instance.OutputFormat("{0}) {1} {2}",
+                                                  k,
+                                                  enabled == true ? "[ ]" : "[X]",
+                                                  repo["name"], repo["url"]);
+            }
+
+            return;
+        }
+
+        // Show description information
+        private void HandleConsoleShowAddinInfo(string module, string[] cmd)
+        {
+            if (cmd.Length >= 3)
+            {
+                
+                Dictionary<string, object> result = new Dictionary<string, object>();
+
+                int ndx = Convert.ToInt16(cmd[2]);
+                PluginManager.AddinInfo(ndx, out result);
+
+                MainConsole.Instance.OutputFormat("Name: {0}\nURL: {1}\nFile: {2}\nAuthor: {3}\nCategory: {4}\nDesc: {5}",
+                                                  result["name"],
+                                                  result["url"],
+                                                  result["file_name"],
+                                                  result["author"],
+                                                  result["category"],
+                                                  result["description"]);
+
+                return;
+            }
+        }
+
+        // Disable plugin
+        private void HandleConsoleDisablePlugin(string module, string[] cmd)
+        {
+            PluginManager.DisablePlugin(cmd);
+            return;
+        }
+
+        // Enable plugin
+        private void HandleConsoleEnablePlugin(string module, string[] cmd)
+        {
+            PluginManager.EnablePlugin(cmd);
+            return;
+        }
+        #endregion
+        }
+}
\ No newline at end of file
diff --git a/OpenSim/Server/Base/Properties/AssemblyInfo.cs b/OpenSim/Server/Base/Properties/AssemblyInfo.cs
index 4bbe358..8b45564 100644
--- a/OpenSim/Server/Base/Properties/AssemblyInfo.cs
+++ b/OpenSim/Server/Base/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Server/Base/ServerUtils.cs b/OpenSim/Server/Base/ServerUtils.cs
index 42c82cf..2e6d279 100644
--- a/OpenSim/Server/Base/ServerUtils.cs
+++ b/OpenSim/Server/Base/ServerUtils.cs
@@ -33,11 +33,163 @@ using System.Xml.Serialization;
 using System.Text;
 using System.Collections.Generic;
 using log4net;
+using Nini.Config;
 using OpenSim.Framework;
 using OpenMetaverse;
+using Mono.Addins;
+using OpenSim.Framework.Servers.HttpServer;
+using OpenSim.Framework.Servers;
 
+
+[assembly:AddinRoot("Robust", "0.1")]
 namespace OpenSim.Server.Base
 {
+    [TypeExtensionPoint(Path="/Robust/Connector", Name="RobustConnector")]
+    public interface IRobustConnector
+    {
+        string ConfigName
+        {
+            get;
+        }
+
+        bool Enabled
+        {
+            get;
+        }
+
+        string PluginPath
+        {
+            get;
+            set;
+        }
+
+        uint Configure(IConfigSource config);
+        void Initialize(IHttpServer server);
+        void Unload();
+    }
+
+    public class PluginLoader
+    {
+        static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        public AddinRegistry Registry
+        {
+            get;
+            private set;
+        }
+
+        public IConfigSource Config
+        {
+            get;
+            private set;
+        }
+
+        public PluginLoader(IConfigSource config, string registryPath)
+        {
+            Config = config;
+
+            Registry = new AddinRegistry(registryPath, ".");
+            suppress_console_output_(true);
+            AddinManager.Initialize(registryPath);
+            suppress_console_output_(false);
+            AddinManager.Registry.Update();
+            CommandManager commandmanager = new CommandManager(Registry);
+            AddinManager.AddExtensionNodeHandler("/Robust/Connector", OnExtensionChanged);
+        }
+
+        private static TextWriter prev_console_;
+        // Temporarily masking the errors reported on start
+        // This is caused by a non-managed dll in the ./bin dir
+        // when the registry is initialized. The dll belongs to
+        // libomv, which has a hard-coded path to "." for pinvoke
+        // to load the openjpeg dll
+        //
+        // Will look for a way to fix, but for now this keeps the 
+        // confusion to a minimum. this was copied from our region
+        // plugin loader, we have been doing this in there for a long time.
+        //
+        public void suppress_console_output_(bool save)
+        {
+            if (save)
+            {
+                prev_console_ = System.Console.Out;
+                System.Console.SetOut(new StreamWriter(Stream.Null));
+            }
+            else
+            {
+                if (prev_console_ != null)
+                    System.Console.SetOut(prev_console_);
+            }
+        }
+
+        private void OnExtensionChanged(object s, ExtensionNodeEventArgs args)
+        {
+            IRobustConnector connector = (IRobustConnector)args.ExtensionObject;
+            Addin a = Registry.GetAddin(args.ExtensionNode.Addin.Id);
+
+            if(a == null)
+            {
+                Registry.Rebuild(null);
+                a = Registry.GetAddin(args.ExtensionNode.Addin.Id);
+            }
+
+            switch(args.Change)
+            {
+                case ExtensionChange.Add:
+                    if (a.AddinFile.Contains(Registry.DefaultAddinsFolder))
+                    {
+                        m_log.InfoFormat("[SERVER]: Adding {0} from registry", a.Name);
+                        connector.PluginPath = System.IO.Path.Combine(Registry.DefaultAddinsFolder,a.Name.Replace(',', '.'));                    }
+                    else
+                    {
+                        m_log.InfoFormat("[SERVER]: Adding {0} from ./bin", a.Name);
+                        connector.PluginPath = a.AddinFile;
+                    }
+                    LoadPlugin(connector);
+                    break;
+                case ExtensionChange.Remove:
+                    m_log.InfoFormat("[SERVER]: Removing {0}", a.Name);
+                    UnloadPlugin(connector);
+                    break;
+            }
+        }
+
+        private void LoadPlugin(IRobustConnector connector)
+        {
+            IHttpServer server = null;
+            uint port = connector.Configure(Config);
+
+            if(connector.Enabled)
+            {
+                server = GetServer(connector, port);
+                connector.Initialize(server);
+            }
+            else
+            {
+                m_log.InfoFormat("[SERVER]: {0} Disabled.", connector.ConfigName);
+            }
+        }
+
+        private void UnloadPlugin(IRobustConnector connector)
+        {
+            m_log.InfoFormat("[Server]: Unloading {0}", connector.ConfigName);
+
+            connector.Unload();
+        }
+
+        private IHttpServer GetServer(IRobustConnector connector, uint port)
+        {
+            IHttpServer server;
+
+            if(port != 0)
+                server = MainServer.GetHttpServer(port);
+            else    
+                server = MainServer.Instance;
+
+            return server;
+        }
+    }
+
     public static class ServerUtils
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
@@ -63,20 +215,30 @@ namespace OpenSim.Server.Base
         /// <param name="dllName"></param>
         /// <param name="args">The arguments which control which constructor is invoked on the plugin</param>
         /// <returns></returns>
-        public static T LoadPlugin<T>(string dllName, Object[] args) where T:class
+        public static T LoadPlugin<T> (string dllName, Object[] args) where T:class
         {
             // This is good to debug configuration problems
             //if (dllName == string.Empty)
             //    Util.PrintCallStack();
-
-            string[] parts = dllName.Split(new char[] {':'});
-
-            dllName = parts[0];
-
+            
             string className = String.Empty;
 
-            if (parts.Length > 1)
-                className = parts[1];
+            // The path for a dynamic plugin will contain ":" on Windows
+            string[] parts = dllName.Split (new char[] {':'});
+
+            if (parts [0].Length > 1) 
+            {
+                dllName = parts [0];
+                if (parts.Length > 1)
+                    className = parts[1];
+            } 
+            else 
+            {
+                // This is Windows - we must replace the ":" in the path
+                dllName = String.Format ("{0}:{1}", parts [0], parts [1]);
+                if (parts.Length > 2)
+                    className = parts[2];
+            }
 
             return LoadPlugin<T>(dllName, className, args);
         }
@@ -118,8 +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;
                             }
@@ -333,5 +498,42 @@ namespace OpenSim.Server.Base
 
             return ret;
         }
+
+        public static IConfig GetConfig(string configFile, string configName)
+        {
+            IConfig config;
+
+            if (File.Exists(configFile))
+            {
+                IConfigSource configsource = new IniConfigSource(configFile);
+                config = configsource.Configs[configName];
+            }
+            else
+                config = null;
+
+            return config;
+        }
+
+        public static IConfigSource LoadInitialConfig(string url)
+        {
+            IConfigSource source = new XmlConfigSource();
+            m_log.InfoFormat("[CONFIG]: {0} is a http:// URI, fetching ...", url);
+
+            // The ini file path is a http URI
+            // Try to read it
+            try
+            {
+                XmlReader r = XmlReader.Create(url);
+                IConfigSource cs = new XmlConfigSource(r);
+                source.Merge(cs);
+            }
+            catch (Exception e)
+            {
+                m_log.FatalFormat("[CONFIG]: Exception reading config from URI {0}\n" + e.ToString(), url);
+                Environment.Exit(1);
+            }
+
+            return source;
+        }
     }
 }
diff --git a/OpenSim/Server/Base/ServicesServerBase.cs b/OpenSim/Server/Base/ServicesServerBase.cs
index 5b23149..ecd69b0 100644
--- a/OpenSim/Server/Base/ServicesServerBase.cs
+++ b/OpenSim/Server/Base/ServicesServerBase.cs
@@ -56,6 +56,12 @@ namespace OpenSim.Server.Base
         //
         protected string[] m_Arguments;
 
+        public string ConfigDirectory
+        {
+            get;
+            private set;
+        }
+
         // Run flag
         //
         private bool m_Running = true;
@@ -134,6 +140,8 @@ namespace OpenSim.Server.Base
                 startupConfig = Config.Configs["Startup"];
             }
 
+            ConfigDirectory = startupConfig.GetString("ConfigDirectory", ".");
+
             prompt = startupConfig.GetString("Prompt", prompt);
 
             // Allow derived classes to load config before the console is
@@ -242,4 +250,4 @@ namespace OpenSim.Server.Base
         {
         }
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Server/Handlers/Base/ServerConnector.cs b/OpenSim/Server/Handlers/Base/ServerConnector.cs
index 71876da..72014db 100644
--- a/OpenSim/Server/Handlers/Base/ServerConnector.cs
+++ b/OpenSim/Server/Handlers/Base/ServerConnector.cs
@@ -39,8 +39,75 @@ namespace OpenSim.Server.Handlers.Base
 
     public class ServiceConnector : IServiceConnector
     {
+        public virtual string ConfigURL
+        {
+            get { return String.Empty; }
+        }
+
+        public virtual string ConfigName
+        {
+            get;
+            protected set;
+        }
+
+        public virtual string ConfigFile
+        {
+            get;
+            protected set;
+        }
+
+        public virtual IConfigSource Config
+        {
+            get;
+            protected set;
+        }
+
+        public ServiceConnector()
+        {
+        }
+
         public ServiceConnector(IConfigSource config, IHttpServer server, string configName)
         {
         }
+
+        // We call this from our plugin module to get our configuration
+        public IConfig GetConfig()
+        { 
+            IConfig config = null;
+            config = ServerUtils.GetConfig(ConfigFile, ConfigName);
+
+            // Our file is not here? We can get one to bootstrap our plugin module
+            if ( config == null )
+            {
+                IConfigSource remotesource = GetConfigSource();
+
+                if (remotesource != null)
+                {
+                    IniConfigSource initialconfig = new IniConfigSource();
+                    initialconfig.Merge (remotesource);
+                    initialconfig.Save(ConfigFile);
+                }
+
+                config = remotesource.Configs[ConfigName];
+            }
+
+            return config;
+        }
+
+        // We get our remote initial configuration for bootstrapping in case
+        // we have no configuration in our main file or in an existing
+        // modular config file. This is the last resort to bootstrap the 
+        // configuration, likely a new plugin loading for the first time.
+        private IConfigSource GetConfigSource()
+        {
+            IConfigSource source = null;
+            
+            source = ServerUtils.LoadInitialConfig(ConfigURL);
+
+            if (source == null)
+                System.Console.WriteLine(String.Format ("Config Url: {0} Not found!", ConfigURL));
+
+            return source;
+        }
     }
 }
diff --git a/OpenSim/Server/Handlers/Properties/AssemblyInfo.cs b/OpenSim/Server/Handlers/Properties/AssemblyInfo.cs
index 53e9737..d72d36a 100644
--- a/OpenSim/Server/Handlers/Properties/AssemblyInfo.cs
+++ b/OpenSim/Server/Handlers/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Server/Properties/AssemblyInfo.cs b/OpenSim/Server/Properties/AssemblyInfo.cs
index ebc10fb..ee45e10 100644
--- a/OpenSim/Server/Properties/AssemblyInfo.cs
+++ b/OpenSim/Server/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Server/ServerMain.cs b/OpenSim/Server/ServerMain.cs
index 45c13fb..8be69a9 100644
--- a/OpenSim/Server/ServerMain.cs
+++ b/OpenSim/Server/ServerMain.cs
@@ -34,6 +34,7 @@ using OpenSim.Framework.Servers;
 using OpenSim.Framework.Servers.HttpServer;
 using OpenSim.Server.Base;
 using OpenSim.Server.Handlers.Base;
+using Mono.Addins;
 
 namespace OpenSim.Server
 {
@@ -48,9 +49,13 @@ namespace OpenSim.Server
         protected static List<IServiceConnector> m_ServiceConnectors =
                 new List<IServiceConnector>();
 
+        protected static PluginLoader loader;
+
         public static int Main(string[] args)
         {
             m_Server = new HttpServerBase("R.O.B.U.S.T.", args);
+            
+            string registryLocation;
 
             IConfig serverConfig = m_Server.Config.Configs["Startup"];
             if (serverConfig == null)
@@ -60,6 +65,8 @@ namespace OpenSim.Server
             }
 
             string connList = serverConfig.GetString("ServiceConnectors", String.Empty);
+            
+            registryLocation = serverConfig.GetString("RegistryLocation",".");
 
             IConfig servicesConfig = m_Server.Config.Configs["ServiceList"];
             if (servicesConfig != null)
@@ -141,6 +148,9 @@ namespace OpenSim.Server
                     m_log.InfoFormat("[SERVER]: Failed to load {0}", conn);
                 }
             }
+
+            loader = new PluginLoader(m_Server.Config, registryLocation);
+
             int res = m_Server.Run();
 
             Environment.Exit(res);
diff --git a/OpenSim/Services/AssetService/Properties/AssemblyInfo.cs b/OpenSim/Services/AssetService/Properties/AssemblyInfo.cs
index 1509400..b57052c 100644
--- a/OpenSim/Services/AssetService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/AssetService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/AuthenticationService/Properties/AssemblyInfo.cs b/OpenSim/Services/AuthenticationService/Properties/AssemblyInfo.cs
index 0eb2ba7..99c46ec 100644
--- a/OpenSim/Services/AuthenticationService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/AuthenticationService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/AuthorizationService/Properties/AssemblyInfo.cs b/OpenSim/Services/AuthorizationService/Properties/AssemblyInfo.cs
index 6d6b11e..33e48d3 100644
--- a/OpenSim/Services/AuthorizationService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/AuthorizationService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/AvatarService/Properties/AssemblyInfo.cs b/OpenSim/Services/AvatarService/Properties/AssemblyInfo.cs
index 0944149..8b0214a 100644
--- a/OpenSim/Services/AvatarService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/AvatarService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/Base/Properties/AssemblyInfo.cs b/OpenSim/Services/Base/Properties/AssemblyInfo.cs
index 306b699..2825a88 100644
--- a/OpenSim/Services/Base/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/Base/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/Connectors/Properties/AssemblyInfo.cs b/OpenSim/Services/Connectors/Properties/AssemblyInfo.cs
index bfb681b..73fc72c 100644
--- a/OpenSim/Services/Connectors/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/Connectors/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/Connectors/Simulation/SimulationServiceConnector.cs b/OpenSim/Services/Connectors/Simulation/SimulationServiceConnector.cs
index 508baf7..ef2494a 100644
--- a/OpenSim/Services/Connectors/Simulation/SimulationServiceConnector.cs
+++ b/OpenSim/Services/Connectors/Simulation/SimulationServiceConnector.cs
@@ -315,7 +315,7 @@ namespace OpenSim.Services.Connectors.Simulation
 
             try
             {
-                OSDMap result = WebUtil.ServiceOSDRequest(uri, request, "QUERYACCESS", 10000, false);
+                OSDMap result = WebUtil.ServiceOSDRequest(uri, request, "QUERYACCESS", 30000, false);
                 bool success = result["success"].AsBoolean();
                 if (result.ContainsKey("_Result"))
                 {
diff --git a/OpenSim/Services/Connectors/UserAccounts/UserAccountServicesConnector.cs b/OpenSim/Services/Connectors/UserAccounts/UserAccountServicesConnector.cs
index 5731e2f..6b2d710 100644
--- a/OpenSim/Services/Connectors/UserAccounts/UserAccountServicesConnector.cs
+++ b/OpenSim/Services/Connectors/UserAccounts/UserAccountServicesConnector.cs
@@ -162,7 +162,7 @@ namespace OpenSim.Services.Connectors
 
             if (replyData != null)
             {
-                if (replyData.ContainsKey("result") && replyData.ContainsKey("result").ToString() == "null")
+                if (replyData.ContainsKey("result") && replyData["result"].ToString() == "null")
                 {
                     return accounts;
                 }
diff --git a/OpenSim/Services/FreeswitchService/Properties/AssemblyInfo.cs b/OpenSim/Services/FreeswitchService/Properties/AssemblyInfo.cs
index 58c7283..fdd4b69 100644
--- a/OpenSim/Services/FreeswitchService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/FreeswitchService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/Friends/Properties/AssemblyInfo.cs b/OpenSim/Services/Friends/Properties/AssemblyInfo.cs
index dddb091..cb624f0 100644
--- a/OpenSim/Services/Friends/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/Friends/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/GridService/GridService.cs b/OpenSim/Services/GridService/GridService.cs
index ee3b858..daebf8b 100644
--- a/OpenSim/Services/GridService/GridService.cs
+++ b/OpenSim/Services/GridService/GridService.cs
@@ -185,15 +185,15 @@ namespace OpenSim.Services.GridService
 
             if (!m_AllowDuplicateNames)
             {
-                List<RegionData> dupe = m_Database.Get(regionInfos.RegionName, scopeID);
+                List<RegionData> dupe = m_Database.Get(Util.EscapeForLike(regionInfos.RegionName), scopeID);
                 if (dupe != null && dupe.Count > 0)
                 {
                     foreach (RegionData d in dupe)
                     {
                         if (d.RegionID != regionInfos.RegionID)
                         {
-                            m_log.WarnFormat("[GRID SERVICE]: Region {0} tried to register duplicate name with ID {1}.", 
-                                regionInfos.RegionName, regionInfos.RegionID);
+                            m_log.WarnFormat("[GRID SERVICE]: Region tried to register using a duplicate name. New region: {0} ({1}), existing region: {2} ({3}).", 
+                                regionInfos.RegionName, regionInfos.RegionID, d.RegionName, d.RegionID);
                             return "Duplicate region name";
                         }
                     }
@@ -359,7 +359,7 @@ namespace OpenSim.Services.GridService
 
         public GridRegion GetRegionByName(UUID scopeID, string name)
         {
-            List<RegionData> rdatas = m_Database.Get(name, scopeID);
+            List<RegionData> rdatas = m_Database.Get(Util.EscapeForLike(name), scopeID);
             if ((rdatas != null) && (rdatas.Count > 0))
                 return RegionData2RegionInfo(rdatas[0]); // get the first
 
@@ -377,7 +377,7 @@ namespace OpenSim.Services.GridService
         {
 //            m_log.DebugFormat("[GRID SERVICE]: GetRegionsByName {0}", name);
 
-            List<RegionData> rdatas = m_Database.Get(name + "%", scopeID);
+            List<RegionData> rdatas = m_Database.Get(Util.EscapeForLike(name) + "%", scopeID);
 
             int count = 0;
             List<GridRegion> rinfos = new List<GridRegion>();
@@ -586,7 +586,7 @@ namespace OpenSim.Services.GridService
 
             string regionName = cmd[3];
 
-            List<RegionData> regions = m_Database.Get(regionName, UUID.Zero);
+            List<RegionData> regions = m_Database.Get(Util.EscapeForLike(regionName), UUID.Zero);
             if (regions == null || regions.Count < 1)
             {
                 MainConsole.Instance.Output("No region with name {0} found", regionName);
@@ -716,7 +716,7 @@ namespace OpenSim.Services.GridService
                 return;
             }
 
-            List<RegionData> regions = m_Database.Get(cmd[3], UUID.Zero);
+            List<RegionData> regions = m_Database.Get(Util.EscapeForLike(cmd[3]), UUID.Zero);
             if (regions == null || regions.Count < 1)
             {
                 MainConsole.Instance.Output("Region not found");
diff --git a/OpenSim/Services/GridService/HypergridLinker.cs b/OpenSim/Services/GridService/HypergridLinker.cs
index 743d089..073197f 100644
--- a/OpenSim/Services/GridService/HypergridLinker.cs
+++ b/OpenSim/Services/GridService/HypergridLinker.cs
@@ -387,7 +387,7 @@ namespace OpenSim.Services.GridService
             m_log.DebugFormat("[HYPERGRID LINKER]: Request to unlink {0}", mapName);
             GridRegion regInfo = null;
 
-            List<RegionData> regions = m_Database.Get(mapName, m_ScopeID);
+            List<RegionData> regions = m_Database.Get(Util.EscapeForLike(mapName), m_ScopeID);
             if (regions != null && regions.Count > 0)
             {
                 OpenSim.Framework.RegionFlags rflags = (OpenSim.Framework.RegionFlags)Convert.ToInt32(regions[0].Data["flags"]);
diff --git a/OpenSim/Services/GridService/Properties/AssemblyInfo.cs b/OpenSim/Services/GridService/Properties/AssemblyInfo.cs
index 5c0c8f4..09084d3 100644
--- a/OpenSim/Services/GridService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/GridService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/HypergridService/HGInstantMessageService.cs b/OpenSim/Services/HypergridService/HGInstantMessageService.cs
index 0c9cfd3..e8d7cca 100644
--- a/OpenSim/Services/HypergridService/HGInstantMessageService.cs
+++ b/OpenSim/Services/HypergridService/HGInstantMessageService.cs
@@ -61,13 +61,13 @@ namespace OpenSim.Services.HypergridService
         protected static IGridService m_GridService;
         protected static IPresenceService m_PresenceService;
         protected static IUserAgentService m_UserAgentService;
+        protected static IOfflineIMService m_OfflineIMService;
 
         protected static IInstantMessageSimConnector m_IMSimConnector;
 
         protected static Dictionary<UUID, object> m_UserLocationMap = new Dictionary<UUID, object>();
         private static ExpiringCache<UUID, GridRegion> m_RegionCache;
 
-        private static string m_RestURL;
         private static bool m_ForwardOfflineGroupMessages;
         private static bool m_InGatekeeper;
 
@@ -111,9 +111,14 @@ namespace OpenSim.Services.HypergridService
                     return;
                 }
 
-                m_RestURL = cnf.GetString("OfflineMessageURL", string.Empty);
                 m_ForwardOfflineGroupMessages = cnf.GetBoolean("ForwardOfflineGroupMessages", false);
 
+                if (m_InGatekeeper)
+                {
+                    string offlineIMService = cnf.GetString("OfflineIMService", string.Empty);
+                    if (offlineIMService != string.Empty)
+                        m_OfflineIMService = ServerUtils.LoadPlugin<IOfflineIMService>(offlineIMService, args);
+                }
             }
         }
 
@@ -329,18 +334,28 @@ namespace OpenSim.Services.HypergridService
 
         private bool UndeliveredMessage(GridInstantMessage im)
         {
-            if (m_RestURL != string.Empty && (im.offline != 0)
-                && (!im.fromGroup || (im.fromGroup && m_ForwardOfflineGroupMessages)))
-            {
-//                m_log.DebugFormat("[HG IM SERVICE]: Message saved");
+            if (m_OfflineIMService == null)
+                return false;
 
-                return SynchronousRestObjectRequester.MakeRequest<GridInstantMessage, bool>(
-                         "POST", m_RestURL + "/SaveMessage/", im);
-            }
-            else
+            if (im.dialog != (byte)InstantMessageDialog.MessageFromObject &&
+                im.dialog != (byte)InstantMessageDialog.MessageFromAgent &&
+                im.dialog != (byte)InstantMessageDialog.GroupNotice &&
+                im.dialog != (byte)InstantMessageDialog.GroupInvitation &&
+                im.dialog != (byte)InstantMessageDialog.InventoryOffered)
             {
                 return false;
             }
+
+            if (!m_ForwardOfflineGroupMessages)
+            {
+                if (im.dialog == (byte)InstantMessageDialog.GroupNotice ||
+                    im.dialog == (byte)InstantMessageDialog.GroupInvitation)
+                    return false;
+            }
+
+//                m_log.DebugFormat("[HG IM SERVICE]: Message saved");
+            string reason = string.Empty;
+            return m_OfflineIMService.StoreMessage(im, out reason);
         }
     }
 }
\ No newline at end of file
diff --git a/OpenSim/Services/HypergridService/Properties/AssemblyInfo.cs b/OpenSim/Services/HypergridService/Properties/AssemblyInfo.cs
index 49f2176..fe1889d 100644
--- a/OpenSim/Services/HypergridService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/HypergridService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/Interfaces/IOfflineIMService.cs b/OpenSim/Services/Interfaces/IOfflineIMService.cs
new file mode 100644
index 0000000..2848967
--- /dev/null
+++ b/OpenSim/Services/Interfaces/IOfflineIMService.cs
@@ -0,0 +1,115 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+
+using OpenSim.Framework;
+using OpenMetaverse;
+
+namespace OpenSim.Services.Interfaces
+{
+    public interface IOfflineIMService
+    {
+        List<GridInstantMessage> GetMessages(UUID principalID);
+        bool StoreMessage(GridInstantMessage im, out string reason);
+    }
+
+    public class OfflineIMDataUtils
+    {
+        public static GridInstantMessage GridInstantMessage(Dictionary<string, object> dict)
+        {
+            GridInstantMessage im = new GridInstantMessage();
+
+            if (dict.ContainsKey("BinaryBucket") && dict["BinaryBucket"] != null)
+                im.binaryBucket = OpenMetaverse.Utils.HexStringToBytes(dict["BinaryBucket"].ToString(), true);
+
+            if (dict.ContainsKey("Dialog") && dict["Dialog"] != null)
+                im.dialog = byte.Parse(dict["Dialog"].ToString());
+
+            if (dict.ContainsKey("FromAgentID") && dict["FromAgentID"] != null)
+                im.fromAgentID = new Guid(dict["FromAgentID"].ToString());
+
+            if (dict.ContainsKey("FromAgentName") && dict["FromAgentName"] != null)
+                im.fromAgentName = dict["FromAgentName"].ToString();
+            else
+                im.fromAgentName = string.Empty;
+
+            if (dict.ContainsKey("FromGroup") && dict["FromGroup"] != null)
+                im.fromGroup = bool.Parse(dict["FromGroup"].ToString());
+
+            if (dict.ContainsKey("SessionID") && dict["SessionID"] != null)
+                im.imSessionID = new Guid(dict["SessionID"].ToString());
+
+            if (dict.ContainsKey("Message") && dict["Message"] != null)
+                im.message = dict["Message"].ToString();
+            else
+                im.message = string.Empty;
+
+            if (dict.ContainsKey("Offline") && dict["Offline"] != null)
+                im.offline = byte.Parse(dict["Offline"].ToString());
+
+            if (dict.ContainsKey("EstateID") && dict["EstateID"] != null)
+                im.ParentEstateID = UInt32.Parse(dict["EstateID"].ToString());
+
+            if (dict.ContainsKey("Position") && dict["Position"] != null)
+                im.Position = Vector3.Parse(dict["Position"].ToString());
+
+            if (dict.ContainsKey("RegionID") && dict["RegionID"] != null)
+                im.RegionID = new Guid(dict["RegionID"].ToString());
+
+            if (dict.ContainsKey("Timestamp") && dict["Timestamp"] != null)
+                im.timestamp = UInt32.Parse(dict["Timestamp"].ToString());
+
+            if (dict.ContainsKey("ToAgentID") && dict["ToAgentID"] != null)
+                im.toAgentID = new Guid(dict["ToAgentID"].ToString());
+
+            return im;
+        }
+
+        public static Dictionary<string, object> GridInstantMessage(GridInstantMessage im)
+        {
+            Dictionary<string, object> dict = new Dictionary<string, object>();
+
+            dict["BinaryBucket"] = OpenMetaverse.Utils.BytesToHexString(im.binaryBucket, im.binaryBucket.Length, null);
+            dict["Dialog"] = im.dialog.ToString();
+            dict["FromAgentID"] = im.fromAgentID.ToString();
+            dict["FromAgentName"] = im.fromAgentName == null ? string.Empty : im.fromAgentName;
+            dict["FromGroup"] = im.fromGroup.ToString();
+            dict["SessionID"] = im.imSessionID.ToString();
+            dict["Message"] = im.message == null ? string.Empty : im.message;
+            dict["Offline"] = im.offline.ToString();
+            dict["EstateID"] = im.ParentEstateID.ToString();
+            dict["Position"] = im.Position.ToString();
+            dict["RegionID"] = im.RegionID.ToString();
+            dict["Timestamp"] = im.timestamp.ToString();
+            dict["ToAgentID"] = im.toAgentID.ToString();
+
+            return dict;
+        }
+
+    }
+}
diff --git a/OpenSim/Services/Interfaces/Properties/AssemblyInfo.cs b/OpenSim/Services/Interfaces/Properties/AssemblyInfo.cs
index 4723553..669e0b8 100644
--- a/OpenSim/Services/Interfaces/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/Interfaces/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/InventoryService/Properties/AssemblyInfo.cs b/OpenSim/Services/InventoryService/Properties/AssemblyInfo.cs
index 41ad9f8..0870065 100644
--- a/OpenSim/Services/InventoryService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/InventoryService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/InventoryService/XInventoryService.cs b/OpenSim/Services/InventoryService/XInventoryService.cs
index 00faa44..7bad4b0 100644
--- a/OpenSim/Services/InventoryService/XInventoryService.cs
+++ b/OpenSim/Services/InventoryService/XInventoryService.cs
@@ -219,9 +219,15 @@ namespace OpenSim.Services.InventoryService
 
             XInventoryFolder root = null;
             foreach (XInventoryFolder folder in folders)
+            {
                 if (folder.folderName == "My Inventory")
+                {
                     root = folder;
-            if (folders == null) // oops
+                    break;
+                }
+            }
+            
+            if (root == null) // oops
                 root = folders[0];
 
             return ConvertToOpenSim(root);
@@ -249,6 +255,9 @@ namespace OpenSim.Services.InventoryService
         {
 //            m_log.DebugFormat("[XINVENTORY SERVICE]: Getting folder type {0} for user {1}", type, principalID);
             
+            if (type == AssetType.RootFolder)
+                return rootFolder;
+
             XInventoryFolder[] folders = m_Database.GetFolders(
                     new string[] { "agentID", "parentFolderID", "type"},
                     new string[] { rootFolder.Owner.ToString(), rootFolder.ID.ToString(), ((int)type).ToString() });
diff --git a/OpenSim/Services/LLLoginService/Properties/AssemblyInfo.cs b/OpenSim/Services/LLLoginService/Properties/AssemblyInfo.cs
index 62c6e0f..3ac8af7 100644
--- a/OpenSim/Services/LLLoginService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/LLLoginService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/MapImageService/Properties/AssemblyInfo.cs b/OpenSim/Services/MapImageService/Properties/AssemblyInfo.cs
index 23eb664..69adf73 100644
--- a/OpenSim/Services/MapImageService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/MapImageService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/PresenceService/Properties/AssemblyInfo.cs b/OpenSim/Services/PresenceService/Properties/AssemblyInfo.cs
index 8c03dd7..040bbe0 100644
--- a/OpenSim/Services/PresenceService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/PresenceService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/UserAccountService/Properties/AssemblyInfo.cs b/OpenSim/Services/UserAccountService/Properties/AssemblyInfo.cs
index 24e1d16..576ccce 100644
--- a/OpenSim/Services/UserAccountService/Properties/AssemblyInfo.cs
+++ b/OpenSim/Services/UserAccountService/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Services/UserAccountService/UserAccountService.cs b/OpenSim/Services/UserAccountService/UserAccountService.cs
index 95c2935..a4f1bba 100644
--- a/OpenSim/Services/UserAccountService/UserAccountService.cs
+++ b/OpenSim/Services/UserAccountService/UserAccountService.cs
@@ -564,7 +564,7 @@ namespace OpenSim.Services.UserAccountService
             return account;
         }
 
-        private void CreateDefaultAppearanceEntries(UUID principalID)
+        protected void CreateDefaultAppearanceEntries(UUID principalID)
         {
             m_log.DebugFormat("[USER ACCOUNT SERVICE]: Creating default appearance items for {0}", principalID);
 
diff --git a/OpenSim/Tests/Common/Helpers/SceneHelpers.cs b/OpenSim/Tests/Common/Helpers/SceneHelpers.cs
index ea3e348..dc20f13 100644
--- a/OpenSim/Tests/Common/Helpers/SceneHelpers.cs
+++ b/OpenSim/Tests/Common/Helpers/SceneHelpers.cs
@@ -139,7 +139,7 @@ namespace OpenSim.Tests.Common
             SceneCommunicationService scs = new SceneCommunicationService();
 
             TestScene testScene = new TestScene(
-                regInfo, m_acm, scs, m_simDataService, m_estateDataService, false, configSource, null);
+                regInfo, m_acm, scs, m_simDataService, m_estateDataService, configSource, null);
 
             INonSharedRegionModule godsModule = new GodsModule();
             godsModule.Initialise(new IniConfigSource());
diff --git a/OpenSim/Tests/Common/Mock/MockGroupsServicesConnector.cs b/OpenSim/Tests/Common/Mock/MockGroupsServicesConnector.cs
index 6fb9df1..3035cea 100644
--- a/OpenSim/Tests/Common/Mock/MockGroupsServicesConnector.cs
+++ b/OpenSim/Tests/Common/Mock/MockGroupsServicesConnector.cs
@@ -26,12 +26,15 @@
  */
 
 using System;
+using System.Collections;
 using System.Collections.Generic;
 using System.Reflection;
 using log4net;
 using Mono.Addins;
 using Nini.Config;
 using OpenMetaverse;
+using OpenSim.Data;
+using OpenSim.Data.Null;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
@@ -44,6 +47,8 @@ namespace OpenSim.Tests.Common.Mock
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
+        IXGroupData m_data = new NullXGroupData(null, null);
+
         public string Name
         {
             get { return "MockGroupsServicesConnector"; }
@@ -84,7 +89,33 @@ namespace OpenSim.Tests.Common.Mock
                                 int membershipFee, bool openEnrollment, bool allowPublish, 
                                 bool maturePublish, UUID founderID)
         {
-            return UUID.Zero;
+            XGroup group = new XGroup()
+            {
+                groupID = UUID.Random(),
+                ownerRoleID = UUID.Random(),
+                name = name,
+                charter = charter,
+                showInList = showInList,
+                insigniaID = insigniaID,
+                membershipFee = membershipFee,
+                openEnrollment = openEnrollment,
+                allowPublish = allowPublish,
+                maturePublish = maturePublish,
+                founderID = founderID,
+                everyonePowers = (ulong)XmlRpcGroupsServicesConnectorModule.DefaultEveryonePowers,
+                ownersPowers = (ulong)XmlRpcGroupsServicesConnectorModule.DefaultOwnerPowers
+            };
+
+            if (m_data.StoreGroup(group))
+            {
+                m_log.DebugFormat("[MOCK GROUPS SERVICES CONNECTOR]: Created group {0} {1}", group.name, group.groupID);
+                return group.groupID;
+            }
+            else
+            {
+                m_log.ErrorFormat("[MOCK GROUPS SERVICES CONNECTOR]: Failed to create group {0}", name);
+                return UUID.Zero;
+            }
         }
 
         public void UpdateGroup(UUID requestingAgentID, UUID groupID, string charter, bool showInList, 
@@ -107,9 +138,49 @@ namespace OpenSim.Tests.Common.Mock
         {
         }
 
-        public GroupRecord GetGroupRecord(UUID requestingAgentID, UUID GroupID, string GroupName)
+        public GroupRecord GetGroupRecord(UUID requestingAgentID, UUID groupID, string groupName)
         {
-            return null;
+            m_log.DebugFormat(
+                "[MOCK GROUPS SERVICES CONNECTOR]: Processing GetGroupRecord() for groupID {0}, name {1}", 
+                groupID, groupName);
+
+            XGroup[] groups;
+            string field, val;
+
+            if (groupID != UUID.Zero)
+            {
+                field = "groupID";
+                val = groupID.ToString();
+            }
+            else
+            {
+                field = "name";
+                val = groupName;
+            }
+
+            groups = m_data.GetGroups(field, val);
+
+            if (groups.Length == 0)
+                return null;
+
+            XGroup xg = groups[0];
+
+            GroupRecord gr = new GroupRecord()
+            {
+                GroupID = xg.groupID,
+                GroupName = xg.name,
+                AllowPublish = xg.allowPublish,
+                MaturePublish = xg.maturePublish,
+                Charter = xg.charter,
+                FounderID = xg.founderID,
+                // FIXME: group picture storage location unknown
+                MembershipFee = xg.membershipFee,
+                OpenEnrollment = xg.openEnrollment,
+                OwnerRoleID = xg.ownerRoleID,
+                ShowInList = xg.showInList
+            };
+
+            return gr;
         }
 
         public GroupProfileData GetMemberGroupProfile(UUID requestingAgentID, UUID GroupID, UUID AgentID)
diff --git a/OpenSim/Tests/Common/Mock/MockScriptEngine.cs b/OpenSim/Tests/Common/Mock/MockScriptEngine.cs
new file mode 100644
index 0000000..78bab5b
--- /dev/null
+++ b/OpenSim/Tests/Common/Mock/MockScriptEngine.cs
@@ -0,0 +1,214 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Reflection;
+using Nini.Config;
+using OpenMetaverse;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.ScriptEngine.Interfaces;
+using OpenSim.Region.ScriptEngine.Shared;
+
+namespace OpenSim.Tests.Common
+{
+    public class MockScriptEngine : INonSharedRegionModule, IScriptModule, IScriptEngine
+    {      
+        private Scene m_scene;
+
+        public void Initialise(IConfigSource source)
+        {
+        }
+
+        public void Close()
+        {
+        }
+
+        public void AddRegion(Scene scene)
+        {
+            m_scene = scene;
+
+            m_scene.StackModuleInterface<IScriptModule>(this);
+        }
+
+        public void RemoveRegion(Scene scene)
+        {
+        }
+
+        public void RegionLoaded(Scene scene)
+        {
+        }
+
+        public string Name { get { return "Mock Script Engine"; } }        
+        public string ScriptEngineName { get { return Name; } }
+
+        public Type ReplaceableInterface { get { return null; } }
+
+        public event ScriptRemoved OnScriptRemoved;
+        public event ObjectRemoved OnObjectRemoved;
+
+        public string GetXMLState (UUID itemID)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public bool SetXMLState(UUID itemID, string xml)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public bool PostScriptEvent(UUID itemID, string name, object[] args)
+        {
+            return false;
+        }
+
+        public bool PostObjectEvent(UUID itemID, string name, object[] args)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public void SuspendScript(UUID itemID)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public void ResumeScript(UUID itemID)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public ArrayList GetScriptErrors(UUID itemID)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public bool HasScript(UUID itemID, out bool running)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public bool GetScriptState(UUID itemID)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public void SaveAllState()
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public void StartProcessing()
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public float GetScriptExecutionTime(List<UUID> itemIDs)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public Dictionary<uint, float> GetObjectScriptsExecutionTimes()
+        {
+            throw new System.NotImplementedException ();
+        }
+       
+        public IScriptWorkItem QueueEventHandler(object parms)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public bool PostScriptEvent(UUID itemID,EventParams parms)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public bool PostObjectEvent (uint localID, EventParams parms)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public DetectParams GetDetectParams(UUID item, int number)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public void SetMinEventDelay(UUID itemID, double delay)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public int GetStartParameter(UUID itemID)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public void SetScriptState(UUID itemID, bool state)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public void SetState(UUID itemID, string newState)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public void ApiResetScript(UUID itemID)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public void ResetScript (UUID itemID)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public IScriptApi GetApi(UUID itemID, string name)
+        {
+            throw new System.NotImplementedException ();
+        }
+
+        public Scene World { get { return m_scene; } }
+
+        public IScriptModule ScriptModule { get { throw new System.NotImplementedException(); } }
+
+        public IConfig Config { get { throw new System.NotImplementedException (); } }
+
+        public IConfigSource ConfigSource { get { throw new System.NotImplementedException (); } }
+
+        public string ScriptEnginePath { get { throw new System.NotImplementedException (); }}
+
+        public string ScriptClassName { get { throw new System.NotImplementedException (); } }
+
+        public string ScriptBaseClassName { get { throw new System.NotImplementedException (); } }
+
+        public string[] ScriptReferencedAssemblies { get { throw new System.NotImplementedException (); } }
+
+        public ParameterInfo[] ScriptBaseClassParameters { get { throw new System.NotImplementedException (); } }       
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Tests/Common/Mock/TestScene.cs b/OpenSim/Tests/Common/Mock/TestScene.cs
index d4b5648..a7e0dfb 100644
--- a/OpenSim/Tests/Common/Mock/TestScene.cs
+++ b/OpenSim/Tests/Common/Mock/TestScene.cs
@@ -41,10 +41,9 @@ namespace OpenSim.Tests.Common.Mock
         public TestScene(
             RegionInfo regInfo, AgentCircuitManager authen,
             SceneCommunicationService sceneGridService, ISimulationDataService simDataService, IEstateDataService estateDataService,
-            bool dumpAssetsToFile,
             IConfigSource config, string simulatorVersion)
             : base(regInfo, authen, sceneGridService, simDataService, estateDataService,
-                   dumpAssetsToFile, config, simulatorVersion)
+                   config, simulatorVersion)
         {
         }
 
diff --git a/OpenSim/Tests/Common/Mock/TestXInventoryDataPlugin.cs b/OpenSim/Tests/Common/Mock/TestXInventoryDataPlugin.cs
index f9bf768..ccbdf81 100644
--- a/OpenSim/Tests/Common/Mock/TestXInventoryDataPlugin.cs
+++ b/OpenSim/Tests/Common/Mock/TestXInventoryDataPlugin.cs
@@ -33,10 +33,11 @@ using log4net;
 using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Data;
+using OpenSim.Data.Null;
 
 namespace OpenSim.Tests.Common.Mock
 {
-    public class TestXInventoryDataPlugin : IXInventoryData
+    public class TestXInventoryDataPlugin : NullGenericDataHandler, IXInventoryData
     {
         private Dictionary<UUID, XInventoryFolder> m_allFolders = new Dictionary<UUID, XInventoryFolder>();
         private Dictionary<UUID, XInventoryItem> m_allItems = new Dictionary<UUID, XInventoryItem>();
@@ -58,28 +59,6 @@ namespace OpenSim.Tests.Common.Mock
             return origFolders.Select(f => f.Clone()).ToArray();
         }
 
-        private List<T> Get<T>(string[] fields, string[] vals, List<T> inputEntities)
-        {
-            List<T> entities = inputEntities;
-
-            for (int i = 0; i < fields.Length; i++)
-            {
-                entities
-                    = entities.Where(
-                        e =>
-                        {
-                            FieldInfo fi = typeof(T).GetField(fields[i]);
-                            if (fi == null)
-                                throw new NotImplementedException(string.Format("No field {0} for val {1}", fields[i], vals[i]));
-
-                            return fi.GetValue(e).ToString() == vals[i];
-                        }
-                    ).ToList();
-            }
-
-            return entities;
-        }
-
         public bool StoreFolder(XInventoryFolder folder)
         {
             m_allFolders[folder.folderID] = folder.Clone();
diff --git a/OpenSim/Tests/ConfigurationLoaderTest.cs b/OpenSim/Tests/ConfigurationLoaderTest.cs
index 067264d..e5186ae 100644
--- a/OpenSim/Tests/ConfigurationLoaderTest.cs
+++ b/OpenSim/Tests/ConfigurationLoaderTest.cs
@@ -29,11 +29,12 @@ using System.IO;
 using Nini.Config;
 using NUnit.Framework;
 using OpenSim.Framework;
+using OpenSim.Tests.Common;
 
 namespace OpenSim.Tests
 {
     [TestFixture]
-    public class ConfigurationLoaderTests
+    public class ConfigurationLoaderTests : OpenSimTestCase
     {
         private const string m_testSubdirectory = "test";
         private string m_basePath;
diff --git a/OpenSim/Tests/Performance/NPCPerformanceTests.cs b/OpenSim/Tests/Performance/NPCPerformanceTests.cs
index afda574..fde1b91 100644
--- a/OpenSim/Tests/Performance/NPCPerformanceTests.cs
+++ b/OpenSim/Tests/Performance/NPCPerformanceTests.cs
@@ -58,7 +58,7 @@ namespace OpenSim.Tests.Performance
     /// earlier tests.
     /// </remarks>
     [TestFixture]
-    public class NPCPerformanceTests
+    public class NPCPerformanceTests : OpenSimTestCase
     {
         private TestScene scene;
         private AvatarFactoryModule afm;
diff --git a/OpenSim/Tests/Performance/ObjectPerformanceTests.cs b/OpenSim/Tests/Performance/ObjectPerformanceTests.cs
index 2264d86..656a971 100644
--- a/OpenSim/Tests/Performance/ObjectPerformanceTests.cs
+++ b/OpenSim/Tests/Performance/ObjectPerformanceTests.cs
@@ -47,7 +47,7 @@ namespace OpenSim.Tests.Performance
     /// earlier tests.
     /// </remarks>
     [TestFixture]
-    public class ObjectPerformanceTests
+    public class ObjectPerformanceTests : OpenSimTestCase
     {
         [TearDown]
         public void TearDown()
diff --git a/OpenSim/Tests/Performance/ScriptPerformanceTests.cs b/OpenSim/Tests/Performance/ScriptPerformanceTests.cs
index d708abd..4064edc 100644
--- a/OpenSim/Tests/Performance/ScriptPerformanceTests.cs
+++ b/OpenSim/Tests/Performance/ScriptPerformanceTests.cs
@@ -53,7 +53,7 @@ namespace OpenSim.Tests.Performance
     /// earlier tests.
     /// </remarks>
     [TestFixture]
-    public class ScriptPerformanceTests
+    public class ScriptPerformanceTests : OpenSimTestCase
     {
         private TestScene m_scene;
         private XEngine m_xEngine;
diff --git a/OpenSim/Tools/Compiler/Properties/AssemblyInfo.cs b/OpenSim/Tools/Compiler/Properties/AssemblyInfo.cs
index e1a1fda..b98e2d2 100644
--- a/OpenSim/Tools/Compiler/Properties/AssemblyInfo.cs
+++ b/OpenSim/Tools/Compiler/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Tools/Configger/Properties/AssemblyInfo.cs b/OpenSim/Tools/Configger/Properties/AssemblyInfo.cs
index 62a2f2d..89aafa3 100644
--- a/OpenSim/Tools/Configger/Properties/AssemblyInfo.cs
+++ b/OpenSim/Tools/Configger/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Tools/pCampBot/Properties/AssemblyInfo.cs b/OpenSim/Tools/pCampBot/Properties/AssemblyInfo.cs
index 20598f1..c4d278a 100644
--- a/OpenSim/Tools/pCampBot/Properties/AssemblyInfo.cs
+++ b/OpenSim/Tools/pCampBot/Properties/AssemblyInfo.cs
@@ -29,5 +29,5 @@ using System.Runtime.InteropServices;
 //      Build Number
 //      Revision
 //
-[assembly: AssemblyVersion("0.7.5.*")]
+[assembly: AssemblyVersion("0.7.6.*")]
 [assembly: AssemblyFileVersion("1.0.0.0")]