diff --git a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
index 2d1b0df906..ade908d657 100644
--- a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
+++ b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
@@ -307,15 +307,15 @@ namespace OpenSim.Region.Framework.Scenes.Animation
                 );
 
             // Check control flags
-/* not in use
-            bool heldForward = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_AT_POS | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_POS)) != 0);
-            bool heldBack = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_AT_NEG | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_NEG)) != 0);
-            bool heldLeft = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_LEFT_POS | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_POS)) != 0);
-            bool heldRight = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_LEFT_NEG | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_NEG)) != 0);
-*/
+            /* not in use
+                        bool heldForward = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_AT_POS | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_POS)) != 0);
+                        bool heldBack = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_AT_NEG | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_NEG)) != 0);
+                        bool heldLeft = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_LEFT_POS | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_POS)) != 0);
+                        bool heldRight = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_LEFT_NEG | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_NEG)) != 0);
+            */
             bool heldTurnLeft = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT) == AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT;
             bool heldTurnRight = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT) == AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT;
-//            bool heldUp = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_UP_POS | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_UP_POS)) != 0);
+            //            bool heldUp = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_UP_POS | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_UP_POS)) != 0);
             // excluded nudge up so it doesn't trigger jump state
             bool heldUp = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_UP_POS)) != 0);
             bool heldDown = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_UP_NEG)) != 0);
@@ -328,7 +328,7 @@ namespace OpenSim.Region.Framework.Scenes.Animation
                 heldTurnLeft = false;
                 heldTurnRight = false;
             }
-           
+
             #endregion Inputs
 
             // no physics actor case
@@ -432,7 +432,7 @@ namespace OpenSim.Region.Framework.Scenes.Animation
             #region Jumping     // section added for jumping...
 
             if (isColliding && heldUp && currentControlState != motionControlStates.jumping)
-                {
+            {
                 // Start jumping, prejump
                 currentControlState = motionControlStates.jumping;
                 m_jumping = true;
@@ -465,6 +465,7 @@ namespace OpenSim.Region.Framework.Scenes.Animation
                     m_jumping = true;
                     return "JUMP";
                 }
+                return CurrentMovementAnimation;
             }
 
             #endregion Jumping
@@ -508,7 +509,6 @@ namespace OpenSim.Region.Framework.Scenes.Animation
                 }
             }
 
-
             // next section moved outside paren. and realigned for jumping
 
             if (heldOnXY)
@@ -530,12 +530,12 @@ namespace OpenSim.Region.Framework.Scenes.Animation
                         return "WALK";
                 }
             }
-            else if (!m_jumping)
+            else
             {
                 currentControlState = motionControlStates.onsurface;
                 Falling = false;
                 // Not walking
-                if(heldDown)
+                if (heldDown)
                     return "CROUCH";
                 else if (heldTurnLeft)
                     return "TURNLEFT";
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 6daa109598..3fc741c305 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -666,6 +666,8 @@ namespace OpenSim.Region.Framework.Scenes
                 m_isSelected = value;
                 if (ParentGroup != null)
                     ParentGroup.PartSelectChanged(value);
+                if (!m_isSelected && m_angularVelocity != Vector3.Zero)
+                    ScheduleTerseUpdate();               
             }
         }
         
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 992fae74bd..af7ca1d475 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -928,7 +928,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             IsColliding = true;
                         }
                     }
-
+/*
                     if (contact.normal.Z < 0.2f)
                     {
                         contact.normal.Z = 0;
@@ -940,12 +940,15 @@ namespace OpenSim.Region.Physics.OdePlugin
                             contact.normal.Y *= t;
                         }
                     }
+ */
                     return true;
                 }
 
                 altContact = contact;
                 useAltcontact = true;
 
+                offset.Z -= 0.2f;
+
                 offset.Normalize();
 
                 if (contact.depth > 0.1f)
@@ -1201,8 +1204,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                         // Avatar to Avatar collisions
                         // Prim to avatar collisions
 
-                        vec.X = -vel.X * PID_D * 2 + (_zeroPosition.X - localpos.X) * (PID_P * 5);
-                        vec.Y = -vel.Y * PID_D * 2 + (_zeroPosition.Y - localpos.Y) * (PID_P * 5);
+                        vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 5);
+                        vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 5);
                         if (flying)
                         {
                             vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
@@ -1223,7 +1226,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             if (ctz.Z > 0f)
                             {
                                 // moving up or JUMPING
-                                vec.Z += (ctz.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
+                                vec.Z += (ctz.Z - vel.Z) * PID_D;
                                 vec.X += (ctz.X - vel.X) * (PID_D);
                                 vec.Y += (ctz.Y - vel.Y) * (PID_D);
                             }
@@ -1233,7 +1236,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 if (ctz.Z == 0)
                                 {
                                     if (vel.Z > 0)
-                                        vec.Z -= vel.Z * PID_D * 2.0f;
+                                        vec.Z -= vel.Z * PID_D;
                                     vec.X += (ctz.X - vel.X) * (PID_D);
                                     vec.Y += (ctz.Y - vel.Y) * (PID_D);
                                 }
@@ -1241,7 +1244,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 else
                                 {
                                     if (ctz.Z < vel.Z)
-                                        vec.Z += (ctz.Z - vel.Z) * PID_D * 2.0f;
+                                        vec.Z += (ctz.Z - vel.Z) * PID_D;
                                     else
                                     {
                                     }
@@ -1260,7 +1263,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             // We're flying and colliding with something
                             vec.X += (ctz.X - vel.X) * (PID_D * 0.0625f);
                             vec.Y += (ctz.Y - vel.Y) * (PID_D * 0.0625f);
-                            vec.Z += (ctz.Z - vel.Z) * (PID_D);
+                            vec.Z += (ctz.Z - vel.Z) * (PID_D * 0.0625f);
                         }
                     }
                     else // ie not colliding
@@ -1268,8 +1271,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                         if (flying) //(!m_iscolliding && flying)
                         {
                             // we're in mid air suspended
-                            vec.X += (ctz.X - vel.X) * (PID_D * 1.667f);
-                            vec.Y += (ctz.Y - vel.Y) * (PID_D * 1.667f);
+                            vec.X += (ctz.X - vel.X) * (PID_D);
+                            vec.Y += (ctz.Y - vel.Y) * (PID_D);
                             vec.Z += (ctz.Z - vel.Z) * (PID_D);
                         }