diff --git a/src/world/Avatar.cs b/src/world/Avatar.cs
index bcf79a88ca..ec51c01680 100644
--- a/src/world/Avatar.cs
+++ b/src/world/Avatar.cs
@@ -4,148 +4,231 @@ using System.IO;
 using System.Text;
 using libsecondlife;
 using libsecondlife.Packets;
+using PhysicsManager;
 
 namespace OpenSim.world
 {
     public class Avatar : Entity
     {
-	public string firstname;
-        public string lastname;
-	public OpenSimClient ControllingClient;
-	private libsecondlife.Packets.ObjectUpdatePacket.ObjectDataBlock AvatarTemplate;
-
-        public Avatar(OpenSimClient TheClient) {
-        	Console.WriteLine("Avatar.cs - Loading details from grid (DUMMY)");
-		ControllingClient=TheClient;
-		SetupTemplate("avatar-template.dat");
-	}
-
-	private void SetupTemplate(string name)
+    	public string firstname;
+    	public string lastname;
+    	public OpenSimClient ControllingClient;
+    	private PhysicsActor _physActor;
+    	private libsecondlife.Packets.ObjectUpdatePacket.ObjectDataBlock AvatarTemplate;
+		private bool updateflag;
+		private bool walking;
+		private List<NewForce> forcesList = new List<NewForce>();
+		
+    	public Avatar(OpenSimClient TheClient) {
+    		Console.WriteLine("Avatar.cs - Loading details from grid (DUMMY)");
+    		ControllingClient=TheClient;
+    		SetupTemplate("avatar-template.dat");
+    	}
+    	
+    	public PhysicsActor PhysActor
+    	{
+    		set
+    		{
+    			this._physActor = value;
+    		}
+    	}
+		public override void addFroces()
 		{
-			
-			int i = 0;
-			FileInfo fInfo = new FileInfo(name);
-			long numBytes = fInfo.Length;
-			FileStream fStream = new FileStream(name, FileMode.Open, FileAccess.Read);
-			BinaryReader br = new BinaryReader(fStream);
-			byte [] data1 = br.ReadBytes((int)numBytes);
-			br.Close();
-			fStream.Close();
-			
-			libsecondlife.Packets.ObjectUpdatePacket.ObjectDataBlock objdata = new libsecondlife.Packets.ObjectUpdatePacket.ObjectDataBlock(data1, ref i);
-			
-			System.Text.Encoding enc = System.Text.Encoding.ASCII;
-			libsecondlife.LLVector3 pos = new LLVector3(objdata.ObjectData, 16);
-			pos.X = 100f;
-			objdata.ID = 8880000;
-			objdata.NameValue = enc.GetBytes("FirstName STRING RW SV Test \nLastName STRING RW SV User \0");
-			libsecondlife.LLVector3 pos2 = new LLVector3(100f,100f,23f);
-			//objdata.FullID=user.AgentID;
-			byte[] pb = pos.GetBytes();			
-			Array.Copy(pb, 0, objdata.ObjectData, 16, pb.Length);
-			
-			AvatarTemplate = objdata;
-				
+			if(this.forcesList.Count>0)
+			{
+				for(int i=0 ; i < this.forcesList.Count; i++)
+				{
+					NewForce force = this.forcesList[i];
+					PhysicsVector phyVector = new PhysicsVector(force.X, force.Y, force.Z);
+					this.PhysActor.Velocity = phyVector;
+					this.updateflag = true;
+					this.velocity = new Axiom.MathLib.Vector3(force.X, force.Y, force.Z); //shouldn't really be doing this
+																						  // but as we are setting the velocity (rather than using real forces) at the moment it is okay.
+					
+				}
+			}
 		}
+    	
+    	public override void update()
+    	{
+    		if(this.updateflag)
+    		{
+    			//need to send movement info
+    			//so create the improvedterseobjectupdate packet
+    		}
+    	}
 
-	public void CompleteMovement(World RegionInfo) {
-		Console.WriteLine("Avatar.cs:CompleteMovement() - Constructing AgentMovementComplete packet");
-		AgentMovementCompletePacket mov = new AgentMovementCompletePacket();
-		mov.AgentData.SessionID = this.ControllingClient.SessionID;
-		mov.AgentData.AgentID = this.ControllingClient.AgentID;
-		mov.Data.RegionHandle = OpenSim_Main.cfg.RegionHandle;
-		// TODO - dynamicalise this stuff
-		mov.Data.Timestamp = 1172750370;
-		mov.Data.Position = new LLVector3(100f, 100f, 23f);
-		mov.Data.LookAt = new LLVector3(0.99f, 0.042f, 0);
-		
-		Console.WriteLine("Sending AgentMovementComplete packet");
-		ControllingClient.OutPacket(mov);
-	}
+    	private void SetupTemplate(string name)
+    	{
+    		
+    		int i = 0;
+    		FileInfo fInfo = new FileInfo(name);
+    		long numBytes = fInfo.Length;
+    		FileStream fStream = new FileStream(name, FileMode.Open, FileAccess.Read);
+    		BinaryReader br = new BinaryReader(fStream);
+    		byte [] data1 = br.ReadBytes((int)numBytes);
+    		br.Close();
+    		fStream.Close();
+    		
+    		libsecondlife.Packets.ObjectUpdatePacket.ObjectDataBlock objdata = new libsecondlife.Packets.ObjectUpdatePacket.ObjectDataBlock(data1, ref i);
+    		
+    		System.Text.Encoding enc = System.Text.Encoding.ASCII;
+    		libsecondlife.LLVector3 pos = new LLVector3(objdata.ObjectData, 16);
+    		pos.X = 100f;
+    		objdata.ID = 8880000;
+    		objdata.NameValue = enc.GetBytes("FirstName STRING RW SV Test \nLastName STRING RW SV User \0");
+    		libsecondlife.LLVector3 pos2 = new LLVector3(100f,100f,23f);
+    		//objdata.FullID=user.AgentID;
+    		byte[] pb = pos.GetBytes();
+    		Array.Copy(pb, 0, objdata.ObjectData, 16, pb.Length);
+    		
+    		AvatarTemplate = objdata;
+    		
+    	}
 
-	public void SendInitialPosition() {
-		System.Text.Encoding _enc = System.Text.Encoding.ASCII;
-		
+    	public void CompleteMovement(World RegionInfo) {
+    		Console.WriteLine("Avatar.cs:CompleteMovement() - Constructing AgentMovementComplete packet");
+    		AgentMovementCompletePacket mov = new AgentMovementCompletePacket();
+    		mov.AgentData.SessionID = this.ControllingClient.SessionID;
+    		mov.AgentData.AgentID = this.ControllingClient.AgentID;
+    		mov.Data.RegionHandle = OpenSim_Main.cfg.RegionHandle;
+    		// TODO - dynamicalise this stuff
+    		mov.Data.Timestamp = 1172750370;
+    		mov.Data.Position = new LLVector3(100f, 100f, 23f);
+    		mov.Data.LookAt = new LLVector3(0.99f, 0.042f, 0);
+    		
+    		Console.WriteLine("Sending AgentMovementComplete packet");
+    		ControllingClient.OutPacket(mov);
+    	}
 
-		//send a objectupdate packet with information about the clients avatar
-		ObjectUpdatePacket objupdate = new ObjectUpdatePacket();
-		objupdate.RegionData.RegionHandle = OpenSim_Main.cfg.RegionHandle;
-		objupdate.RegionData.TimeDilation = 64096;
-		objupdate.ObjectData = new libsecondlife.Packets.ObjectUpdatePacket.ObjectDataBlock[1];
-			
-		objupdate.ObjectData[0] = AvatarTemplate;
-		//give this avatar object a local id and assign the user a name
-		objupdate.ObjectData[0].ID = 8880000 + OpenSim_Main.local_world._localNumber;
-		//User_info.name="Test"+this.local_numer+" User";
-		objupdate.ObjectData[0].FullID = ControllingClient.AgentID;
-		objupdate.ObjectData[0].NameValue = _enc.GetBytes("FirstName STRING RW SV " + firstname + "\nLastName STRING RW SV " + lastname + " \0");
-			
-		libsecondlife.LLVector3 pos2 = new LLVector3(100f, 100.0f, 23.0f);
-		
-		byte[] pb = pos2.GetBytes();
-						
-		Array.Copy(pb, 0, objupdate.ObjectData[0].ObjectData, 16, pb.Length);
-		OpenSim_Main.local_world._localNumber++;
-		this.ControllingClient.OutPacket(objupdate);
-	}
-	
-	public void SendInitialAppearance() {
-		AgentWearablesUpdatePacket aw = new AgentWearablesUpdatePacket();
-		aw.AgentData.AgentID = this.ControllingClient.AgentID;
-		aw.AgentData.SerialNum = 0;
-		aw.AgentData.SessionID = ControllingClient.SessionID;
- 
-		aw.WearableData = new AgentWearablesUpdatePacket.WearableDataBlock[13];
-		AgentWearablesUpdatePacket.WearableDataBlock awb = new AgentWearablesUpdatePacket.WearableDataBlock();
-		awb.WearableType = (byte)0;
-		awb.AssetID = new LLUUID("66c41e39-38f9-f75a-024e-585989bfab73");
-		awb.ItemID = LLUUID.Random();
-		aw.WearableData[0] = awb;
- 
-		for(int i=1; i<13; i++) {
-  			awb = new AgentWearablesUpdatePacket.WearableDataBlock();
-  			awb.WearableType = (byte)i;
-  			awb.AssetID = new LLUUID("00000000-0000-0000-0000-000000000000");
-  			awb.ItemID = new LLUUID("00000000-0000-0000-0000-000000000000");
-  			aw.WearableData[i] = awb;
-		}
-	
-		ControllingClient.OutPacket(aw);
-	}
+    	public void SendInitialPosition() {
+    		System.Text.Encoding _enc = System.Text.Encoding.ASCII;
+    		
 
-	public void SendRegionHandshake(World RegionInfo) {
-		Console.WriteLine("Avatar.cs:SendRegionHandshake() - Creating empty RegionHandshake packet");
-		System.Text.Encoding _enc = System.Text.Encoding.ASCII;
-		RegionHandshakePacket handshake = new RegionHandshakePacket();
-		
-		Console.WriteLine("Avatar.cs:SendRegionhandshake() - Filling in RegionHandshake details");
-		handshake.RegionInfo.BillableFactor = 0;
-                handshake.RegionInfo.IsEstateManager = false;
-                handshake.RegionInfo.TerrainHeightRange00 = 60;
-                handshake.RegionInfo.TerrainHeightRange01 = 60;
-                handshake.RegionInfo.TerrainHeightRange10 = 60;
-                handshake.RegionInfo.TerrainHeightRange11 = 60;
-                handshake.RegionInfo.TerrainStartHeight00 = 10;
-                handshake.RegionInfo.TerrainStartHeight01 = 10;
-                handshake.RegionInfo.TerrainStartHeight10 = 10;
-                handshake.RegionInfo.TerrainStartHeight11 = 10;
-                handshake.RegionInfo.SimAccess = 13;
-                handshake.RegionInfo.WaterHeight = 5;
-                handshake.RegionInfo.RegionFlags = 72458694;
-                handshake.RegionInfo.SimName = _enc.GetBytes(OpenSim_Main.cfg.RegionName + "\0");
-                handshake.RegionInfo.SimOwner = new LLUUID("00000000-0000-0000-0000-000000000000");
-                handshake.RegionInfo.TerrainBase0 = new LLUUID("b8d3965a-ad78-bf43-699b-bff8eca6c975");
-                handshake.RegionInfo.TerrainBase1 = new LLUUID("abb783e6-3e93-26c0-248a-247666855da3");
-                handshake.RegionInfo.TerrainBase2 = new LLUUID("179cdabd-398a-9b6b-1391-4dc333ba321f");
-                handshake.RegionInfo.TerrainBase3 = new LLUUID("beb169c7-11ea-fff2-efe5-0f24dc881df2");
-                handshake.RegionInfo.TerrainDetail0 = new LLUUID("00000000-0000-0000-0000-000000000000");
-                handshake.RegionInfo.TerrainDetail1 = new LLUUID("00000000-0000-0000-0000-000000000000");
-                handshake.RegionInfo.TerrainDetail2 = new LLUUID("00000000-0000-0000-0000-000000000000");
-                handshake.RegionInfo.TerrainDetail3 = new LLUUID("00000000-0000-0000-0000-000000000000");
-                handshake.RegionInfo.CacheID = new LLUUID("545ec0a5-5751-1026-8a0b-216e38a7ab37");
-		
-		Console.WriteLine("Avatar.cs:SendRegionHandshake() - Sending RegionHandshake packet");
-		this.ControllingClient.OutPacket(handshake);
-	}
+    		//send a objectupdate packet with information about the clients avatar
+    		ObjectUpdatePacket objupdate = new ObjectUpdatePacket();
+    		objupdate.RegionData.RegionHandle = OpenSim_Main.cfg.RegionHandle;
+    		objupdate.RegionData.TimeDilation = 64096;
+    		objupdate.ObjectData = new libsecondlife.Packets.ObjectUpdatePacket.ObjectDataBlock[1];
+    		
+    		objupdate.ObjectData[0] = AvatarTemplate;
+    		//give this avatar object a local id and assign the user a name
+    		objupdate.ObjectData[0].ID = 8880000 + OpenSim_Main.local_world._localNumber;
+    		//User_info.name="Test"+this.local_numer+" User";
+    		objupdate.ObjectData[0].FullID = ControllingClient.AgentID;
+    		objupdate.ObjectData[0].NameValue = _enc.GetBytes("FirstName STRING RW SV " + firstname + "\nLastName STRING RW SV " + lastname + " \0");
+    		
+    		libsecondlife.LLVector3 pos2 = new LLVector3(100f, 100.0f, 23.0f);
+    		
+    		byte[] pb = pos2.GetBytes();
+    		
+    		Array.Copy(pb, 0, objupdate.ObjectData[0].ObjectData, 16, pb.Length);
+    		OpenSim_Main.local_world._localNumber++;
+    		this.ControllingClient.OutPacket(objupdate);
+    	}
+    	
+    	public void SendInitialAppearance() {
+    		AgentWearablesUpdatePacket aw = new AgentWearablesUpdatePacket();
+    		aw.AgentData.AgentID = this.ControllingClient.AgentID;
+    		aw.AgentData.SerialNum = 0;
+    		aw.AgentData.SessionID = ControllingClient.SessionID;
+    		
+    		aw.WearableData = new AgentWearablesUpdatePacket.WearableDataBlock[13];
+    		AgentWearablesUpdatePacket.WearableDataBlock awb = new AgentWearablesUpdatePacket.WearableDataBlock();
+    		awb.WearableType = (byte)0;
+    		awb.AssetID = new LLUUID("66c41e39-38f9-f75a-024e-585989bfab73");
+    		awb.ItemID = LLUUID.Random();
+    		aw.WearableData[0] = awb;
+    		
+    		for(int i=1; i<13; i++) {
+    			awb = new AgentWearablesUpdatePacket.WearableDataBlock();
+    			awb.WearableType = (byte)i;
+    			awb.AssetID = new LLUUID("00000000-0000-0000-0000-000000000000");
+    			awb.ItemID = new LLUUID("00000000-0000-0000-0000-000000000000");
+    			aw.WearableData[i] = awb;
+    		}
+    		
+    		ControllingClient.OutPacket(aw);
+    	}
+    	
+    	public void HandleUpdate(AgentUpdatePacket pack) {
+           if(((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_AT_POS) !=0) {
+    			if(!walking)
+    			{
+    				//we should add a new force to the list 
+    				// but for now we will deal with velocities
+    				NewFoce newVelocity = new NewForce();
+    				Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(1, 0, 0);
+    				Axiom.MathLib.Quaternion q = new Axiom.MathLib.Quaternion(pack.AgentData.BodyRotation.W, pack.AgentData.BodyRotation.X, pack.AgentData.BodyRotation.Y, pack.AgentData.BodyRotation.Z);
+    				Axiom.MathLib.Vector3 direc = q * v3;
+    				direc.Normalize();
+    				
+    				Axiom.MathLib.Vector3 internDirec = new Vector3(direc.x, direc.y, direc.z);
+    				
+    				//work out velocity for sim physics system
+    				direc = direc * ((0.03f) * 128f);
+    				newVelocity.X = direc.x;
+    				newVelocity.Y = direc.y;
+    				newVelocity.Z = direc.z;
+    				this.forcesList.Add(newVelocity);
+    				walking=true;
+    			}
+    		}
+    		else
+    		{
+    			if(walking)
+    			{
+    				
+    			}
+    		}
+    	}
+    	
+		//should be moved somewhere else
+    	public void SendRegionHandshake(World RegionInfo) {
+    		Console.WriteLine("Avatar.cs:SendRegionHandshake() - Creating empty RegionHandshake packet");
+    		System.Text.Encoding _enc = System.Text.Encoding.ASCII;
+    		RegionHandshakePacket handshake = new RegionHandshakePacket();
+    		
+    		Console.WriteLine("Avatar.cs:SendRegionhandshake() - Filling in RegionHandshake details");
+    		handshake.RegionInfo.BillableFactor = 0;
+    		handshake.RegionInfo.IsEstateManager = false;
+    		handshake.RegionInfo.TerrainHeightRange00 = 60;
+    		handshake.RegionInfo.TerrainHeightRange01 = 60;
+    		handshake.RegionInfo.TerrainHeightRange10 = 60;
+    		handshake.RegionInfo.TerrainHeightRange11 = 60;
+    		handshake.RegionInfo.TerrainStartHeight00 = 10;
+    		handshake.RegionInfo.TerrainStartHeight01 = 10;
+    		handshake.RegionInfo.TerrainStartHeight10 = 10;
+    		handshake.RegionInfo.TerrainStartHeight11 = 10;
+    		handshake.RegionInfo.SimAccess = 13;
+    		handshake.RegionInfo.WaterHeight = 5;
+    		handshake.RegionInfo.RegionFlags = 72458694;
+    		handshake.RegionInfo.SimName = _enc.GetBytes(OpenSim_Main.cfg.RegionName + "\0");
+    		handshake.RegionInfo.SimOwner = new LLUUID("00000000-0000-0000-0000-000000000000");
+    		handshake.RegionInfo.TerrainBase0 = new LLUUID("b8d3965a-ad78-bf43-699b-bff8eca6c975");
+    		handshake.RegionInfo.TerrainBase1 = new LLUUID("abb783e6-3e93-26c0-248a-247666855da3");
+    		handshake.RegionInfo.TerrainBase2 = new LLUUID("179cdabd-398a-9b6b-1391-4dc333ba321f");
+    		handshake.RegionInfo.TerrainBase3 = new LLUUID("beb169c7-11ea-fff2-efe5-0f24dc881df2");
+    		handshake.RegionInfo.TerrainDetail0 = new LLUUID("00000000-0000-0000-0000-000000000000");
+    		handshake.RegionInfo.TerrainDetail1 = new LLUUID("00000000-0000-0000-0000-000000000000");
+    		handshake.RegionInfo.TerrainDetail2 = new LLUUID("00000000-0000-0000-0000-000000000000");
+    		handshake.RegionInfo.TerrainDetail3 = new LLUUID("00000000-0000-0000-0000-000000000000");
+    		handshake.RegionInfo.CacheID = new LLUUID("545ec0a5-5751-1026-8a0b-216e38a7ab37");
+    		
+    		Console.WriteLine("Avatar.cs:SendRegionHandshake() - Sending RegionHandshake packet");
+    		this.ControllingClient.OutPacket(handshake);
+    	}
+    }
+    
+    public class NewForce
+    {
+    	public float X;
+    	public float Y;
+    	public float Z;
+    	
+    	public NewForce()
+    	{
+    		
+    	}
     }
 }
diff --git a/src/world/Entity.cs b/src/world/Entity.cs
index ab07fd60cb..72e4e83b4f 100644
--- a/src/world/Entity.cs
+++ b/src/world/Entity.cs
@@ -9,9 +9,9 @@ namespace OpenSim.world
     public class Entity
     {
         protected libsecondlife.LLUUID uuid;
-        protected Vector3 position;
-        protected Vector3 velocity;
-        protected Quaternion rotation;
+        public Vector3 position;
+        public Vector3 velocity;
+        public Quaternion rotation;
         protected string name;
         protected List<Entity> children;
 
@@ -24,7 +24,13 @@ namespace OpenSim.world
             name = "(basic entity)";
             children = new List<Entity>();
         }
-
+        public virtual void addFroces()
+        {
+        	foreach (Entity child in children)
+            {
+                child.addFroces();
+            }
+        }
         public virtual void update() {
             // Do any per-frame updates needed that are applicable to every type of entity
             foreach (Entity child in children)
diff --git a/src/world/World.cs b/src/world/World.cs
index ebbd61ee1d..920220f2a0 100644
--- a/src/world/World.cs
+++ b/src/world/World.cs
@@ -3,6 +3,7 @@ using libsecondlife;
 using libsecondlife.Packets;
 using System.Collections.Generic;
 using System.Text;
+using PhysicsManager;
 
 namespace OpenSim.world
 {
@@ -13,6 +14,8 @@ namespace OpenSim.world
         public ScriptEngine Scripts;
 	public TerrainDecode terrainengine = new TerrainDecode();
 	public uint _localNumber=0;
+		private PhysicsScene phyScene;
+		private float timeStep= 0.1f;
 	
         private Random Rand = new Random();
 
@@ -32,9 +35,30 @@ namespace OpenSim.world
 		// Initialise this only after the world has loaded
 		Scripts = new ScriptEngine(this);
         }
-
+        
+		public PhysicsScene PhysScene
+		{
+			set
+			{
+				this.phyScene = value;
+			}
+		}
+		
         public void Update()
         {
+        	if(this.phyScene.IsThreaded)
+        	{
+        		this.phyScene.GetResults();
+        	
+        	}
+        		
+        	foreach (libsecondlife.LLUUID UUID in Entities.Keys)
+            {
+                Entities[UUID].addFroces();
+            }
+   
+        	this.phyScene.Simulate(timeStep);
+        	
             foreach (libsecondlife.LLUUID UUID in Entities.Keys)
             {
                 Entities[UUID].update();
@@ -55,7 +79,9 @@ namespace OpenSim.world
 		this.Entities.Add(AgentClient.AgentID, NewAvatar);
 		Console.WriteLine("World.cs:AddViewerAgent() - Starting RegionHandshake ");
 		NewAvatar.SendRegionHandshake(this);
-		this.Update();		// will work for now, but needs to be optimised so we don't update everything in the sim for each new user
+		
+		NewAvatar.PhysActor = this.phyScene.AddAvatar(new PhysicsVector(NewAvatar.position.x, NewAvatar.position.y, NewAvatar.position.z));
+		//this.Update();		// will work for now, but needs to be optimised so we don't update everything in the sim for each new user
 	}
 
         public bool Backup() {