Merge branch 'master' of ssh://TOR/var/git/careminster

OpenSim/Framework/Capabilities/Caps.cs

@@ -46,7 +46,7 @@ namespace OpenSim.Framework.Capabilities
 
     public delegate UUID UpdateItem(UUID itemID, byte[] data);
 
-    public delegate void UpdateTaskScript(UUID itemID, UUID primID, bool isScriptRunning, byte[] data);
+    public delegate void UpdateTaskScript(UUID itemID, UUID primID, bool isScriptRunning, byte[] data, ref ArrayList errors);
 
     public delegate void NewInventoryItem(UUID userID, InventoryItemBase item);
 
@@ -54,7 +54,7 @@ namespace OpenSim.Framework.Capabilities
 
     public delegate UUID ItemUpdatedCallback(UUID userID, UUID itemID, byte[] data);
 
-    public delegate void TaskScriptUpdatedCallback(UUID userID, UUID itemID, UUID primID,
+    public delegate ArrayList TaskScriptUpdatedCallback(UUID userID, UUID itemID, UUID primID,
                                                    bool isScriptRunning, byte[] data);
 
     public delegate InventoryCollection FetchInventoryDescendentsCAPS(UUID agentID, UUID folderID, UUID ownerID,
@@ -940,11 +940,13 @@ namespace OpenSim.Framework.Capabilities
         /// <param name="primID">Prim containing item to update</param>
         /// <param name="isScriptRunning">Signals whether the script to update is currently running</param>
         /// <param name="data">New asset data</param>
-        public void TaskScriptUpdated(UUID itemID, UUID primID, bool isScriptRunning, byte[] data)
+        public void TaskScriptUpdated(UUID itemID, UUID primID, bool isScriptRunning, byte[] data, ref ArrayList errors)
         {
             if (TaskScriptUpdatedCall != null)
             {
-                TaskScriptUpdatedCall(m_agentID, itemID, primID, isScriptRunning, data);
+                ArrayList e = TaskScriptUpdatedCall(m_agentID, itemID, primID, isScriptRunning, data);
+                foreach (Object item in e)
+                    errors.Add(item);
             }
         }
 
@@ -1174,17 +1176,20 @@ namespace OpenSim.Framework.Capabilities
 //                                     data, path, param));
 
                     string res = String.Empty;
-                    LLSDTaskInventoryUploadComplete uploadComplete = new LLSDTaskInventoryUploadComplete();
+                    LLSDTaskScriptUploadComplete uploadComplete = new LLSDTaskScriptUploadComplete();
 
+                    ArrayList errors = new ArrayList();
                     handlerUpdateTaskScript = OnUpLoad;
                     if (handlerUpdateTaskScript != null)
                     {
-                        handlerUpdateTaskScript(inventoryItemID, primID, isScriptRunning, data);
+                        handlerUpdateTaskScript(inventoryItemID, primID, isScriptRunning, data, ref errors);
                     }
 
-                    uploadComplete.item_id = inventoryItemID;
+                    uploadComplete.new_asset = inventoryItemID;
-                    uploadComplete.task_id = primID;
+                    uploadComplete.compiled = errors.Count > 0 ? false : true;
                     uploadComplete.state = "complete";
+                    uploadComplete.errors = new OSDArray();
+                    uploadComplete.errors.Array = errors;
 
                     res = LLSDHelpers.SerialiseLLSDReply(uploadComplete);
 

OpenSim/Framework/Capabilities/LLSDTaskScriptUploadComplete.cs

@@ -0,0 +1,54 @@
+/*
+ * 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 OpenMetaverse;
+using System;
+using System.Collections;
+
+namespace OpenSim.Framework.Capabilities
+{
+    [OSDMap]
+    public class LLSDTaskScriptUploadComplete
+    {
+        /// <summary>
+        /// The task inventory item that was updated
+        /// </summary>
+        public UUID new_asset;
+
+        /// <summary>
+        /// Was it compiled?
+        /// </summary>
+        public bool compiled;
+
+        /// <summary>
+        /// State of the upload.  So far have only even seen this set to "complete"
+        /// </summary>
+        public string state;
+
+        public OSDArray errors;
+    }
+}

OpenSim/Framework/Communications/Cache/LibraryRootFolder.cs

@@ -171,6 +171,7 @@ namespace OpenSim.Framework.Communications.Cache
             item.NextPermissions = (uint)config.GetLong("nextPermissions", 0x7FFFFFFF);
             item.EveryOnePermissions = (uint)config.GetLong("everyonePermissions", 0x7FFFFFFF);
             item.BasePermissions = (uint)config.GetLong("basePermissions", 0x7FFFFFFF);
+            item.Flags = (uint)config.GetInt("flags", 0);
 
             if (libraryFolders.ContainsKey(item.Folder))
             {

OpenSim/Framework/Communications/Cache/UserProfileCacheService.cs

@@ -142,6 +142,7 @@ namespace OpenSim.Framework.Communications.Cache
 
                     if (userProfile != null)
                     {
+
                         if ((userProfile.UserAssetURI == null || userProfile.UserAssetURI == "") && m_commsManager.NetworkServersInfo != null)
                             userProfile.UserAssetURI = m_commsManager.NetworkServersInfo.AssetURL;
                         if ((userProfile.UserInventoryURI == null || userProfile.UserInventoryURI == "") && m_commsManager.NetworkServersInfo != null)
@@ -177,6 +178,7 @@ namespace OpenSim.Framework.Communications.Cache
                     UserProfileData userProfile = m_commsManager.UserService.GetUserProfile(userID);
                     if (userProfile != null)
                     {
+
                         if ((userProfile.UserAssetURI == null || userProfile.UserAssetURI == "") && m_commsManager.NetworkServersInfo != null)
                             userProfile.UserAssetURI = m_commsManager.NetworkServersInfo.AssetURL;
                         if ((userProfile.UserInventoryURI == null || userProfile.UserInventoryURI == "") && m_commsManager.NetworkServersInfo != null)

OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/HGInventoryBroker.cs

@@ -56,6 +56,17 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Inventory
         private ISessionAuthInventoryService m_HGService;
 
         private string m_LocalGridInventoryURI = string.Empty;
+
+        private string LocalGridInventory
+        {
+            get
+            {
+                if (m_LocalGridInventoryURI == null || m_LocalGridInventoryURI == "")
+                    m_LocalGridInventoryURI = m_Scene.CommsManager.NetworkServersInfo.InventoryURL;
+                return m_LocalGridInventoryURI;
+            }
+        }
+
         public Type ReplaceableInterface 
         {
             get { return null; }
@@ -533,7 +544,7 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Inventory
             
             string userInventoryServerURI = Util.ServerURI(uinfo.UserProfile.UserInventoryURI);
 
-            string uri = m_LocalGridInventoryURI.TrimEnd('/');
+            string uri = LocalGridInventory.TrimEnd('/');
 
             if ((userInventoryServerURI == uri) || (userInventoryServerURI == ""))
             {
@@ -545,7 +556,7 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Inventory
 
         private string GetUserInventoryURI(UUID userID)
         {
-            string invURI = m_LocalGridInventoryURI;
+            string invURI = LocalGridInventory;
 
             CachedUserInfo uinfo = m_UserProfileService.GetUserDetails(userID);
             if ((uinfo == null) || (uinfo.UserProfile == null))

OpenSim/Region/Framework/Interfaces/IEntityInventory.cs

@@ -26,6 +26,7 @@
  */
 
 using System.Collections.Generic;
+using System.Collections;
 using OpenMetaverse;
 using OpenSim.Framework;
 
@@ -71,6 +72,7 @@ namespace OpenSim.Region.Framework.Interfaces
         /// Start all the scripts contained in this entity's inventory
         /// </summary>
        void CreateScriptInstances(int startParam, bool postOnRez, string engine, int stateSource);
+        ArrayList GetScriptErrors(UUID itemID);
 
         /// <summary>
         /// Stop all the scripts in this entity.

OpenSim/Region/Framework/Interfaces/IScriptModule.cs

@@ -26,6 +26,7 @@
  */
 
 using System;
+using System.Collections;
 using OpenMetaverse;
 
 namespace OpenSim.Region.Framework.Interfaces
@@ -39,5 +40,7 @@ namespace OpenSim.Region.Framework.Interfaces
 
         bool PostScriptEvent(UUID itemID, string name, Object[] args);
         bool PostObjectEvent(UUID itemID, string name, Object[] args);
+
+        ArrayList GetScriptErrors(UUID itemID);
     }
 }

OpenSim/Region/Framework/Scenes/Scene.Inventory.cs

@@ -27,6 +27,7 @@
 
 using System;
 using System.Collections.Generic;
+using System.Collections;
 using System.Reflection;
 using System.Text;
 using System.Timers;
@@ -215,13 +216,13 @@ namespace OpenSim.Region.Framework.Scenes
         /// <param name="primID">The prim which contains the item to update</param>
         /// <param name="isScriptRunning">Indicates whether the script to update is currently running</param>
         /// <param name="data"></param>
-        public void CapsUpdateTaskInventoryScriptAsset(IClientAPI remoteClient, UUID itemId,
+        public ArrayList CapsUpdateTaskInventoryScriptAsset(IClientAPI remoteClient, UUID itemId,
                                                        UUID primId, bool isScriptRunning, byte[] data)
         {
             if (!Permissions.CanEditScript(itemId, primId, remoteClient.AgentId))
             {
                 remoteClient.SendAgentAlertMessage("Insufficient permissions to edit script", false);
-                return;
+                return new ArrayList();
             }
 
             // Retrieve group
@@ -234,7 +235,7 @@ namespace OpenSim.Region.Framework.Scenes
                     "Prim inventory update requested for item ID {0} in prim ID {1} but this prim does not exist",
                     itemId, primId);
 
-                return;
+                return new ArrayList();
             }
 
             // Retrieve item
@@ -247,7 +248,7 @@ namespace OpenSim.Region.Framework.Scenes
                         + " but the item does not exist in this inventory",
                     itemId, part.Name, part.UUID);
 
-                return;
+                return new ArrayList();
             }
 
             AssetBase asset = CreateAsset(item.Name, item.Description, (sbyte)AssetType.LSLText, data);
@@ -264,29 +265,33 @@ namespace OpenSim.Region.Framework.Scenes
             part.GetProperties(remoteClient);
 
             // Trigger rerunning of script (use TriggerRezScript event, see RezScript)
+            ArrayList errors = new ArrayList();
+
             if (isScriptRunning)
             {
                 // Needs to determine which engine was running it and use that
                 //
                 part.Inventory.CreateScriptInstance(item.ItemID, 0, false, DefaultScriptEngine, 0);
+                errors = part.Inventory.GetScriptErrors(item.ItemID);
             }
             else
             {
                 remoteClient.SendAgentAlertMessage("Script saved", false);
             }
+            return errors;
         }
 
         /// <summary>
         /// <see>CapsUpdateTaskInventoryScriptAsset(IClientAPI, UUID, UUID, bool, byte[])</see>
         /// </summary>
-        public void CapsUpdateTaskInventoryScriptAsset(UUID avatarId, UUID itemId,
+        public ArrayList CapsUpdateTaskInventoryScriptAsset(UUID avatarId, UUID itemId,
                                                         UUID primId, bool isScriptRunning, byte[] data)
         {
             ScenePresence avatar;
 
             if (TryGetAvatar(avatarId, out avatar))
             {
-                CapsUpdateTaskInventoryScriptAsset(
+                return CapsUpdateTaskInventoryScriptAsset(
                     avatar.ControllingClient, itemId, primId, isScriptRunning, data);
             }
             else
@@ -295,6 +300,7 @@ namespace OpenSim.Region.Framework.Scenes
                     "[PRIM INVENTORY]: " +
                     "Avatar {0} cannot be found to update its prim item asset",
                     avatarId);
+                return new ArrayList();
             }
         }
 

OpenSim/Region/Framework/Scenes/SceneGraph.cs

@@ -542,6 +542,18 @@ namespace OpenSim.Region.Framework.Scenes
                     if (group.GetFromItemID() == itemID)
                     {
                         m_parentScene.SendAttachEvent(group.LocalId, itemID, UUID.Zero);
+						bool hasScripts = false;
+						foreach (SceneObjectPart part in group.Children.Values)
+						{
+							if (part.Inventory.ContainsScripts())
+							{
+								hasScripts = true;
+								break;
+							}
+						}
+
+                        if (hasScripts) // Allow the object to execute the attach(NULL_KEY) event
+                            System.Threading.Thread.Sleep(100);
                         group.DetachToInventoryPrep();
                         m_log.Debug("[DETACH]: Saving attachpoint: " +
                                 ((uint)group.GetAttachmentPoint()).ToString());

OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs

@@ -1880,6 +1880,7 @@ namespace OpenSim.Region.Framework.Scenes
                 }
             }
         }
+
         public void stopLookAt()
         {
             SceneObjectPart rootpart = m_rootPart;

OpenSim/Region/Framework/Scenes/SceneObjectPartInventory.cs

@@ -29,6 +29,7 @@ using System;
 using System.Xml;
 using System.IO;
 using System.Collections.Generic;
+using System.Collections;
 using System.Reflection;
 using OpenMetaverse;
 using log4net;
@@ -210,6 +211,27 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
+        public ArrayList GetScriptErrors(UUID itemID)
+        {
+            ArrayList ret = new ArrayList();
+
+            IScriptModule[] engines = m_part.ParentGroup.Scene.RequestModuleInterfaces<IScriptModule>();
+            if (engines == null) // No engine at all
+                return ret;
+
+            foreach (IScriptModule e in engines)
+            {
+                if (e != null)
+                {
+                    ArrayList errors = e.GetScriptErrors(itemID);
+                    foreach (Object line in errors)
+                        ret.Add(line);
+                }
+            }
+
+            return ret;
+        }
+
         /// <summary>
         /// Stop all the scripts in this prim.
         /// </summary>
@@ -345,6 +367,7 @@ namespace OpenSim.Region.Framework.Scenes
                             break;
                     }
                 }
+                m_part.ParentGroup.m_savedScriptState.Remove(oldID);
             }
         }
 

OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs

@@ -258,26 +258,50 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
 
         public Vector3 SitTarget
         {
-            get { throw new System.NotImplementedException(); }
+            get { return GetSOP().SitTargetPosition; }
-            set { throw new System.NotImplementedException(); }
+            set 
+            { 
+                if (CanEdit())
+                {
+                    GetSOP().SitTargetPosition = value;
+                }	 
+            }
         }
 
         public string SitTargetText
         {
-            get { throw new System.NotImplementedException(); }
+            get { return GetSOP().SitName; }
-            set { throw new System.NotImplementedException(); }
+            set 
+            { 
+                if (CanEdit())
+                {
+                    GetSOP().SitName = value;
+                }	
+            }
         }
 
         public string TouchText
         {
-            get { throw new System.NotImplementedException(); }
+            get { return GetSOP().TouchName; }
-            set { throw new System.NotImplementedException(); }
+            set 
+            {
+                if (CanEdit())
+                {
+                    GetSOP().TouchName = value;
+                }				
+            }
         }
 
         public string Text
         {
-            get { throw new System.NotImplementedException(); }
+            get { return GetSOP().Text; }
-            set { throw new System.NotImplementedException(); }
+            set 
+            {
+                if (CanEdit())
+                {
+                    GetSOP().SetText(value,new Vector3(1.0f,1.0f,1.0f),1.0f);
+                }
+            }
         }
 
         public bool IsRotationLockedX

OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs

@@ -620,11 +620,25 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             set { return; }
         }
         
-        public override Quaternion APIDTarget { set { return; } }
+        public override Quaternion APIDTarget 
-        public override bool APIDActive { set { return; } }
+        { 
-        public override float APIDStrength { set { return; } }
+        	set { return; }
-        public override float APIDDamping { set { return; } }
+        }
         
+        public override bool APIDActive
+        { 
+        	set { return; }
+        }
+        
+        public override float APIDStrength
+        { 
+        	set { return; }
+        }
+        
+        public override float APIDDamping
+        { 
+        	set { return; }
+        }
 
         /// <summary>
         /// Adds the force supplied to the Target Velocity

OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs

@@ -570,7 +570,6 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         public override float APIDStrength { set { return; } }
         public override float APIDDamping { set { return; } }
         
-
         public override void AddForce(Vector3 force, bool pushforce)
         {
             m_forcelist.Add(force);

OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs

@@ -0,0 +1,58 @@
+/*
+ * 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.Reflection;
+using System.Runtime.InteropServices;
+
+// Information about this assembly is defined by the following
+// attributes.
+//
+// change them to the information which is associated with the assembly
+// you compile.
+
+[assembly : AssemblyTitle("OdePlugin")]
+[assembly : AssemblyDescription("")]
+[assembly : AssemblyConfiguration("")]
+[assembly : AssemblyCompany("http://opensimulator.org")]
+[assembly : AssemblyProduct("OdePlugin")]
+[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
+[assembly : AssemblyTrademark("")]
+[assembly : AssemblyCulture("")]
+
+// This sets the default COM visibility of types in the assembly to invisible.
+// If you need to expose a type to COM, use [ComVisible(true)] on that type.
+
+[assembly : ComVisible(false)]
+
+// The assembly version has following format :
+//
+// Major.Minor.Build.Revision
+//
+// You can specify all values by your own or you can build default build and revision
+// numbers with the '*' character (the default):
+
+[assembly : AssemblyVersion("0.6.5.*")]

OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.c_comments

@@ -0,0 +1,630 @@
+/*
+ * Revised August 26 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.
+ * 
+ * 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.Runtime.InteropServices;
+using log4net;
+using OpenMetaverse;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    public class ODEDynamics
+    {
+        public Vehicle Type
+        {        
+            get { return m_type; }
+        }
+
+        public IntPtr Body
+        {
+            get { return m_body; }
+        }
+
+        private int frcount = 0;										// Used to limit dynamics debug output to 
+        																// every 100th frame
+
+        // private OdeScene m_parentScene = null;
+        private IntPtr m_body = IntPtr.Zero;
+        private IntPtr m_jointGroup = IntPtr.Zero;
+        private IntPtr m_aMotor = IntPtr.Zero;
+ 
+
+        // Vehicle properties
+        private Vehicle m_type = Vehicle.TYPE_NONE;						// If a 'VEHICLE', and what kind
+        // private Quaternion m_referenceFrame = Quaternion.Identity;	// Axis modifier
+        private VehicleFlag m_flags = (VehicleFlag) 0;					// Boolean settings:
+																		// HOVER_TERRAIN_ONLY
+																		// HOVER_GLOBAL_HEIGHT
+																		// NO_DEFLECTION_UP
+																		// HOVER_WATER_ONLY
+																		// HOVER_UP_ONLY
+																		// LIMIT_MOTOR_UP
+																		// LIMIT_ROLL_ONLY
+        
+        // Linear properties
+        private Vector3 m_linearMotorDirection = Vector3.Zero;			// velocity requested by LSL, decayed by time
+        private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;	// velocity requested by LSL
+        private Vector3 m_dir = Vector3.Zero;							// velocity applied to body
+        private Vector3 m_linearFrictionTimescale = Vector3.Zero;
+        private float m_linearMotorDecayTimescale = 0;
+        private float m_linearMotorTimescale = 0;
+        private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
+		// private bool m_LinearMotorSetLastFrame = false;
+        // private Vector3 m_linearMotorOffset = Vector3.Zero;
+        
+        //Angular properties
+        private Vector3 m_angularMotorDirection = Vector3.Zero;
+        private Vector3 m_angularMotorDirectionLASTSET = Vector3.Zero;
+        private Vector3 m_angularFrictionTimescale = Vector3.Zero;
+        private float m_angularMotorDecayTimescale = 0;
+        private float m_angularMotorTimescale = 0;
+        private Vector3 m_lastAngularVelocityVector = Vector3.Zero;
+
+		//Deflection properties        
+        // private float m_angularDeflectionEfficiency = 0;
+        // private float m_angularDeflectionTimescale = 0;
+        // private float m_linearDeflectionEfficiency = 0;
+        // private float m_linearDeflectionTimescale = 0;
+        
+        //Banking properties
+        // private float m_bankingEfficiency = 0;
+        // private float m_bankingMix = 0;
+        // private float m_bankingTimescale = 0;
+        
+        //Hover and Buoyancy properties
+        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. 
+        												
+		//Attractor properties        												
+        private float m_verticalAttractionEfficiency = 0;
+        private float m_verticalAttractionTimescale = 0;
+        
+        
+
+
+
+        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_angularMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_angularMotorTimescale = pValue;
+                    break;
+                case Vehicle.BANKING_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingEfficiency = pValue;
+                    break;
+                case Vehicle.BANKING_MIX:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingMix = pValue;
+                    break;
+                case Vehicle.BANKING_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingTimescale = pValue;
+                    break;
+                case Vehicle.BUOYANCY:
+                	if (pValue < -1f) pValue = -1f;
+                	if (pValue > 1f) pValue = 1f;
+                    m_VehicleBuoyancy = pValue;
+                    break;
+                case Vehicle.HOVER_EFFICIENCY:
+                	if (pValue < 0f) pValue = 0f;
+                	if (pValue > 1f) pValue = 1f;
+                    m_VhoverEfficiency = pValue;
+                    break;
+                case Vehicle.HOVER_HEIGHT:
+                    m_VhoverHeight = pValue;
+                    break;
+                case Vehicle.HOVER_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_VhoverTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_linearMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_linearMotorTimescale = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
+                    if (pValue < 0.0f) pValue = 0.0f;
+                    if (pValue > 1.0f) pValue = 1.0f;
+                    m_verticalAttractionEfficiency = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_verticalAttractionTimescale = pValue;
+                    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);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_angularMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+                    break;
+
+            }
+            
+        }//end ProcessFloatVehicleParam
+
+        internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_angularMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    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);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+            }
+            
+        }//end ProcessVectorVehicleParam
+
+        internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.REFERENCE_FRAME:
+                    // m_referenceFrame = pValue;
+                    break;
+            }
+            
+        }//end ProcessRotationVehicleParam
+
+        internal void ProcessTypeChange(Vehicle pType)
+        {
+Console.WriteLine("ProcessTypeChange to " + pType);
+         
+			// Set Defaults For Type
+            m_type = pType;
+            switch (pType)
+            {
+                case Vehicle.TYPE_SLED:
+                    m_linearFrictionTimescale = new Vector3(30, 1, 1000);
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 1000;
+                    m_linearMotorDecayTimescale = 120;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 1000;
+                    m_angularMotorDecayTimescale = 120;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 1;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 1;
+                    // m_linearDeflectionTimescale = 1;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 1000;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 10;
+                    // m_referenceFrame = Quaternion.Identity;
+                    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_linearFrictionTimescale = new Vector3(100, 2, 1000);
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 1;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 1;
+                    m_angularMotorDecayTimescale = 0.8f;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // // m_linearDeflectionEfficiency = 1;
+                    // // m_linearDeflectionTimescale = 2;
+                    // // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 10;
+                    m_verticalAttractionEfficiency = 1;
+                    m_verticalAttractionTimescale = 10;
+                    // m_bankingEfficiency = -0.2f;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_BOAT:
+                    m_linearFrictionTimescale = new Vector3(10, 3, 2);
+                    m_angularFrictionTimescale = new Vector3(10,10,10);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 2;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 0.5f;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 0.5f;
+                    m_verticalAttractionTimescale = 5;
+                    // m_bankingEfficiency = -0.3f;
+                    // m_bankingMix = 0.8f;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY | 
+                    		VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_AIRPLANE:
+                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
+                    m_angularFrictionTimescale = new Vector3(20, 20, 20);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 2;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 2;
+                    m_verticalAttractionEfficiency = 0.9f;
+                    m_verticalAttractionTimescale = 2;
+                    // m_bankingEfficiency = 1;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 2;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                    break;
+                case Vehicle.TYPE_BALLOON:
+                    m_linearFrictionTimescale = new Vector3(5, 5, 5);
+                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 6;
+                    m_angularMotorDecayTimescale = 10;
+                    m_VhoverHeight = 5;
+                    m_VhoverEfficiency = 0.8f;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0;
+                    // m_linearDeflectionTimescale = 5;
+                    // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 1;
+                    m_verticalAttractionTimescale = 1000;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 5;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    break;
+
+            }
+        }//end SetDefaultsForType
+
+        internal void Enable(IntPtr pBody, OdeScene pParentScene)
+        {
+//Console.WriteLine("Enable  m_type=" + m_type + "   m_VehicleBuoyancy=" + m_VehicleBuoyancy);
+            if (m_type == Vehicle.TYPE_NONE)
+                return;
+
+            m_body = pBody;
+            //KF: This  used to set up the linear and angular joints
+        }
+
+        internal void Step(float pTimestep,  OdeScene pParentScene)
+        {
+            if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
+                return;
+            frcount++;					// used to limit debug comment output
+            if (frcount > 100)
+                frcount = 0;
+
+  			MoveLinear(pTimestep, pParentScene);
+            MoveAngular(pTimestep);
+        }// end Step
+
+        private void MoveLinear(float pTimestep, OdeScene _pParentScene)
+        {
+            if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))		// requested m_linearMotorDirection is significant
+            {
+            	 if(!d.BodyIsEnabled (Body))  d.BodyEnable (Body);
+
+                // add drive to body
+                Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
+                m_lastLinearVelocityVector += (addAmount*10);					// lastLinearVelocityVector is the current body velocity vector?
+        
+                // This will work temporarily, but we really need to compare speed on an axis
+                // KF: Limit body velocity to applied velocity?
+                if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
+                    m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
+                if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
+                    m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
+                if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
+                    m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
+                
+                // decay applied velocity
+                Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
+                //Console.WriteLine("decay: " + decayfraction);
+                m_linearMotorDirection -= m_linearMotorDirection * decayfraction;
+                //Console.WriteLine("actual: " + m_linearMotorDirection);
+            }
+            else
+            {		// requested is not significant
+					// if what remains of applied is small, zero it.
+				if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
+					m_lastLinearVelocityVector = Vector3.Zero;
+			}
+			            
+			
+			// convert requested object velocity to world-referenced vector
+            m_dir = m_lastLinearVelocityVector;
+            d.Quaternion rot = d.BodyGetQuaternion(Body);
+	        Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);	// rotq = rotation of object
+	        m_dir *= rotq;							// apply obj rotation to velocity vector
+
+			// add Gravity andBuoyancy
+			// KF: So far I have found no good method to combine a script-requested
+			// .Z velocity and gravity. Therefore only 0g will used script-requested
+			// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
+            Vector3 grav = Vector3.Zero;
+			if(m_VehicleBuoyancy < 1.0f)
+			{
+				// There is some gravity, make a gravity force vector
+				// that is applied after object velocity.     
+	            d.Mass objMass;
+	            d.BodyGetMass(Body, out objMass);
+	            // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 
+	            grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
+	            // Preserve the current Z velocity
+				d.Vector3 vel_now = d.BodyGetLinearVel(Body);
+	            m_dir.Z = vel_now.Z;		// Preserve the accumulated falling velocity
+	        } // else its 1.0, no gravity.
+	        
+	        // Check if hovering
+	        if( (m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+	        {	
+	        	// We should hover, get the target height
+        		d.Vector3 pos = d.BodyGetPosition(Body);
+	        	if((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
+	        	{
+	        		m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
+	        	}
+	        	else if((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
+	        	{
+	        		m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
+	        	}
+	        	else if((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
+	        	{
+	        		m_VhoverTargetHeight = m_VhoverHeight;
+	        	}
+	        	
+				if((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
+				{
+					// If body is aready heigher, use its height as target height
+					if(pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
+				}
+				
+//	            m_VhoverEfficiency = 0f;	// 0=boucy, 1=Crit.damped
+//				m_VhoverTimescale = 0f;		// time to acheive height
+//				pTimestep  is time since last frame,in secs 
+				float herr0 = pos.Z - m_VhoverTargetHeight;
+//if(frcount == 0) Console.WriteLine("herr0=" + herr0);			
+				// Replace Vertical speed with correction figure if significant
+				if(Math.Abs(herr0) > 0.01f )
+				{
+		            d.Mass objMass;
+		            d.BodyGetMass(Body, out objMass);
+					m_dir.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
+					// m_VhoverEfficiency is not yet implemented
+				}
+				else
+				{
+					m_dir.Z = 0f;
+				}
+			}
+	        	
+	        // Apply velocity
+	        d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);        
+//if(frcount == 0) Console.WriteLine("Move  " + Body + ":"+ m_dir.X + " " + m_dir.Y + " " + m_dir.Z);
+            // apply gravity force
+			d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);		
+//if(frcount == 0) Console.WriteLine("Force " + Body + ":" + grav.X + " " + grav.Y + " " + grav.Z);     
+
+
+			// apply friction
+            Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
+            m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
+        } // end MoveLinear()
+        
+        private void MoveAngular(float pTimestep)
+        {
+        
+        	// m_angularMotorDirection  			is the latest value from the script, and is decayed here
+        	// m_angularMotorDirectionLASTSET 		is the latest value from the script
+        	// m_lastAngularVelocityVector			is what is being applied to the Body, varied up and down here
+        	
+            if (!m_angularMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
+            {
+				if(!d.BodyIsEnabled (Body))  d.BodyEnable (Body);
+				// ramp up to new value
+                Vector3 addAmount = m_angularMotorDirection / (m_angularMotorTimescale / pTimestep);
+                m_lastAngularVelocityVector += (addAmount * 10f);
+//if(frcount == 0) Console.WriteLine("add: " + addAmount);
+
+				// limit applied value to what was set by script
+                // This will work temporarily, but we really need to compare speed on an axis
+                if (Math.Abs(m_lastAngularVelocityVector.X) > Math.Abs(m_angularMotorDirectionLASTSET.X))
+                    m_lastAngularVelocityVector.X = m_angularMotorDirectionLASTSET.X;
+                if (Math.Abs(m_lastAngularVelocityVector.Y) > Math.Abs(m_angularMotorDirectionLASTSET.Y))
+                    m_lastAngularVelocityVector.Y = m_angularMotorDirectionLASTSET.Y;
+                if (Math.Abs(m_lastAngularVelocityVector.Z) > Math.Abs(m_angularMotorDirectionLASTSET.Z))
+                    m_lastAngularVelocityVector.Z = m_angularMotorDirectionLASTSET.Z;
+
+				// decay the requested value
+                Vector3 decayfraction = ((Vector3.One / (m_angularMotorDecayTimescale / pTimestep)));
+                //Console.WriteLine("decay: " + decayfraction);
+                m_angularMotorDirection -= m_angularMotorDirection * decayfraction;
+                //Console.WriteLine("actual: " + m_linearMotorDirection);
+            }
+            // KF: m_lastAngularVelocityVector is rotational speed in rad/sec ?
+            
+            // Vertical attractor section
+            
+//            d.Mass objMass;
+//            d.BodyGetMass(Body, out objMass);
+//            float servo = 100f * objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep);
+            float servo = 0.1f * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep);
+            // get present body rotation
+            d.Quaternion rot = d.BodyGetQuaternion(Body);
+            Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
+            // make a vector pointing up
+			Vector3 verterr = Vector3.Zero;
+			verterr.Z = 1.0f;
+			// rotate it to Body Angle
+			verterr = verterr * rotq;
+			// verterr.X and .Y are the World error ammounts. 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.
+			if (verterr.Z < 0.0f)
+			{
+				verterr.X = 2.0f - verterr.X;
+				verterr.Y = 2.0f - verterr.Y;
+			}
+			// Error is 0 (no error) to +/- 2 (max error)
+			// scale it by servo
+			verterr = verterr * servo;
+			
+			// rotate to object frame
+	//		verterr = verterr * rotq;
+			
+			// As the body rotates around the X axis, then verterr.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.
+			m_lastAngularVelocityVector.X += verterr.Y;
+			m_lastAngularVelocityVector.Y -= verterr.X;
+/*
+if(frcount == 0) 
+	{
+//			Console.WriteLine("AngleMotor " + m_lastAngularVelocityVector);
+			Console.WriteLine(String.Format("VA Body:{0} servo:{1} err:<{2},{3},{4}>  VAE:{5}", 
+					Body, servo, verterr.X, verterr.Y, verterr.Z, m_verticalAttractionEfficiency)); 
+	}
+	*/
+			d.BodySetAngularVel (Body, m_lastAngularVelocityVector.X, m_lastAngularVelocityVector.Y, m_lastAngularVelocityVector.Z);
+			// apply friction
+            Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
+            m_lastAngularVelocityVector -= m_lastAngularVelocityVector * decayamount;
+
+        } //end MoveAngular
+    }
+}

OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs

@@ -0,0 +1,673 @@
+/*
+ * 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.
+ *
+ * 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.
+ * 
+ */
+
+/* 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.
+ */ 
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using log4net;
+using OpenMetaverse;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    public class ODEDynamics
+    {
+        public Vehicle Type
+        {        
+            get { return m_type; }
+        }
+
+        public IntPtr Body
+        {
+            get { return m_body; }
+        }
+
+        private int frcount = 0;										// Used to limit dynamics debug output to 
+        																// every 100th frame
+
+        // private OdeScene m_parentScene = null;
+        private IntPtr m_body = IntPtr.Zero;
+//        private IntPtr m_jointGroup = IntPtr.Zero;
+//        private IntPtr m_aMotor = IntPtr.Zero;
+ 
+
+        // Vehicle properties
+        private Vehicle m_type = Vehicle.TYPE_NONE;						// If a 'VEHICLE', and what kind
+        // private Quaternion m_referenceFrame = Quaternion.Identity;	// Axis modifier
+        private VehicleFlag m_flags = (VehicleFlag) 0;					// Boolean settings:
+																		// HOVER_TERRAIN_ONLY
+																		// HOVER_GLOBAL_HEIGHT
+																		// NO_DEFLECTION_UP
+																		// HOVER_WATER_ONLY
+																		// HOVER_UP_ONLY
+																		// LIMIT_MOTOR_UP
+																		// LIMIT_ROLL_ONLY
+        
+        // Linear properties
+        private Vector3 m_linearMotorDirection = Vector3.Zero;			// velocity requested by LSL, decayed by time
+        private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;	// velocity requested by LSL
+        private Vector3 m_dir = Vector3.Zero;							// velocity applied to body
+        private Vector3 m_linearFrictionTimescale = Vector3.Zero;
+        private float m_linearMotorDecayTimescale = 0;
+        private float m_linearMotorTimescale = 0;
+        private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
+		// private bool m_LinearMotorSetLastFrame = false;
+        // private Vector3 m_linearMotorOffset = Vector3.Zero;
+        
+        //Angular properties
+        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_lastVertAttractor = Vector3.Zero;				// what VA was last applied to body
+
+		//Deflection properties        
+        // private float m_angularDeflectionEfficiency = 0;
+        // private float m_angularDeflectionTimescale = 0;
+        // private float m_linearDeflectionEfficiency = 0;
+        // private float m_linearDeflectionTimescale = 0;
+        
+        //Banking properties
+        // private float m_bankingEfficiency = 0;
+        // private float m_bankingMix = 0;
+        // private float m_bankingTimescale = 0;
+        
+        //Hover and Buoyancy properties
+        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;			// 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. 
+        												
+		//Attractor properties        												
+        private float m_verticalAttractionEfficiency = 1.0f;		// damped
+        private float m_verticalAttractionTimescale = 500f;			// Timescale > 300  means no vert attractor.
+        
+        
+
+
+
+        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_angularMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_angularMotorTimescale = pValue;
+                    break;
+                case Vehicle.BANKING_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingEfficiency = pValue;
+                    break;
+                case Vehicle.BANKING_MIX:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingMix = pValue;
+                    break;
+                case Vehicle.BANKING_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingTimescale = pValue;
+                    break;
+                case Vehicle.BUOYANCY:
+                	if (pValue < -1f) pValue = -1f;
+                	if (pValue > 1f) pValue = 1f;
+                    m_VehicleBuoyancy = pValue;
+                    break;
+//                case Vehicle.HOVER_EFFICIENCY:
+//                	if (pValue < 0f) pValue = 0f;
+//                	if (pValue > 1f) pValue = 1f;
+//                    m_VhoverEfficiency = pValue;
+//                    break;
+                case Vehicle.HOVER_HEIGHT:
+                    m_VhoverHeight = pValue;
+                    break;
+                case Vehicle.HOVER_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_VhoverTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_linearMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_linearMotorTimescale = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
+                    if (pValue < 0.1f) pValue = 0.1f;	// Less goes unstable
+                    if (pValue > 1.0f) pValue = 1.0f;
+                    m_verticalAttractionEfficiency = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_verticalAttractionTimescale = pValue;
+                    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);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_angularMotorApply = 10;
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+                    break;
+
+            }
+            
+        }//end ProcessFloatVehicleParam
+
+        internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    // Limit requested angular speed to 2 rps= 4 pi rads/sec
+                    if(m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f; 
+                    if(m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f; 
+                    if(m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f; 
+                    if(m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f; 
+                    if(m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f; 
+                    if(m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f; 
+                    m_angularMotorApply = 10;
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    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);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+            }
+            
+        }//end ProcessVectorVehicleParam
+
+        internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.REFERENCE_FRAME:
+                    // m_referenceFrame = pValue;
+                    break;
+            }
+            
+        }//end ProcessRotationVehicleParam
+
+        internal void ProcessTypeChange(Vehicle pType)
+        {
+			// Set Defaults For Type
+            m_type = pType;
+            switch (pType)
+            {
+                case Vehicle.TYPE_SLED:
+                    m_linearFrictionTimescale = new Vector3(30, 1, 1000);
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 1000;
+                    m_linearMotorDecayTimescale = 120;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 1000;
+                    m_angularMotorDecayTimescale = 120;
+                    m_VhoverHeight = 0;
+//                    m_VhoverEfficiency = 1;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 1;
+                    // m_linearDeflectionTimescale = 1;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 1000;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 10;
+                    // m_referenceFrame = Quaternion.Identity;
+                    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_linearFrictionTimescale = new Vector3(100, 2, 1000);
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 1;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 1;
+                    m_angularMotorDecayTimescale = 0.8f;
+                    m_VhoverHeight = 0;
+//                    m_VhoverEfficiency = 0;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // // m_linearDeflectionEfficiency = 1;
+                    // // m_linearDeflectionTimescale = 2;
+                    // // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 10;
+                    m_verticalAttractionEfficiency = 1f;
+                    m_verticalAttractionTimescale = 10f;
+                    // m_bankingEfficiency = -0.2f;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_BOAT:
+                    m_linearFrictionTimescale = new Vector3(10, 3, 2);
+                    m_angularFrictionTimescale = new Vector3(10,10,10);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+//                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 2;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 0.5f;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 0.5f;
+                    m_verticalAttractionTimescale = 5f;
+                    // m_bankingEfficiency = -0.3f;
+                    // m_bankingMix = 0.8f;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY | 
+                    		VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_AIRPLANE:
+                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
+                    m_angularFrictionTimescale = new Vector3(20, 20, 20);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 2;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+//                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 2;
+                    m_verticalAttractionEfficiency = 0.9f;
+                    m_verticalAttractionTimescale = 2f;
+                    // m_bankingEfficiency = 1;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 2;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                    break;
+                case Vehicle.TYPE_BALLOON:
+                    m_linearFrictionTimescale = new Vector3(5, 5, 5);
+                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 6;
+                    m_angularMotorDecayTimescale = 10;
+                    m_VhoverHeight = 5;
+//                    m_VhoverEfficiency = 0.8f;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0;
+                    // m_linearDeflectionTimescale = 5;
+                    // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 1f;
+                    m_verticalAttractionTimescale = 100f;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 5;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    break;
+
+            }
+        }//end SetDefaultsForType
+
+        internal void Enable(IntPtr pBody, OdeScene pParentScene)
+        {
+            if (m_type == Vehicle.TYPE_NONE)
+                return;
+
+            m_body = pBody;
+        }
+
+        internal void Step(float pTimestep,  OdeScene pParentScene)
+        {
+            if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
+                return;
+            frcount++;					// used to limit debug comment output
+            if (frcount > 100)
+                frcount = 0;
+
+  			MoveLinear(pTimestep, pParentScene);
+            MoveAngular(pTimestep);
+        }// end Step
+
+        private void MoveLinear(float pTimestep, OdeScene _pParentScene)
+        {
+            if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))		// requested m_linearMotorDirection is significant
+            {
+            	 if(!d.BodyIsEnabled (Body))  d.BodyEnable (Body);
+
+                // add drive to body
+                Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
+                m_lastLinearVelocityVector += (addAmount*10);					// lastLinearVelocityVector is the current body velocity vector?
+        
+                // This will work temporarily, but we really need to compare speed on an axis
+                // KF: Limit body velocity to applied velocity?
+                if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
+                    m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
+                if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
+                    m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
+                if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
+                    m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
+                
+                // decay applied velocity
+                Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
+                //Console.WriteLine("decay: " + decayfraction);
+                m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
+                //Console.WriteLine("actual: " + m_linearMotorDirection);
+            }
+            else
+            {		// requested is not significant
+					// if what remains of applied is small, zero it.
+				if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
+					m_lastLinearVelocityVector = Vector3.Zero;
+			}
+			            
+			
+			// convert requested object velocity to world-referenced vector
+            m_dir = m_lastLinearVelocityVector;
+            d.Quaternion rot = d.BodyGetQuaternion(Body);
+	        Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);	// rotq = rotation of object
+	        m_dir *= rotq;							// apply obj rotation to velocity vector
+
+			// add Gravity and Buoyancy
+			// KF: So far I have found no good method to combine a script-requested
+			// .Z velocity and gravity. Therefore only 0g will used script-requested
+			// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
+            Vector3 grav = Vector3.Zero;
+			if(m_VehicleBuoyancy < 1.0f)
+			{
+				// There is some gravity, make a gravity force vector
+				// that is applied after object velocity.     
+	            d.Mass objMass;
+	            d.BodyGetMass(Body, out objMass);
+	            // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 
+	            grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
+	            // Preserve the current Z velocity
+				d.Vector3 vel_now = d.BodyGetLinearVel(Body);
+	            m_dir.Z = vel_now.Z;		// Preserve the accumulated falling velocity
+	        } // else its 1.0, no gravity.
+	        
+	        // Check if hovering
+	        if( (m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+	        {	
+	        	// We should hover, get the target height
+        		d.Vector3 pos = d.BodyGetPosition(Body);
+	        	if((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
+	        	{
+	        		m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
+	        	}
+	        	else if((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
+	        	{
+	        		m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
+	        	}
+	        	else if((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
+	        	{
+	        		m_VhoverTargetHeight = m_VhoverHeight;
+	        	}
+	        	
+				if((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
+				{
+					// If body is aready heigher, use its height as target height
+					if(pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
+				}
+				
+//	            m_VhoverEfficiency = 0f;	// 0=boucy, 1=Crit.damped
+//				m_VhoverTimescale = 0f;		// time to acheive height
+//				pTimestep  is time since last frame,in secs 
+				float herr0 = pos.Z - m_VhoverTargetHeight;
+				// Replace Vertical speed with correction figure if significant
+				if(Math.Abs(herr0) > 0.01f )
+				{
+		            d.Mass objMass;
+		            d.BodyGetMass(Body, out objMass);
+					m_dir.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
+					//KF: m_VhoverEfficiency is not yet implemented
+				}
+				else
+				{
+					m_dir.Z = 0f;
+				}
+			}
+	        	
+	        // Apply velocity
+	        d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);        
+            // apply gravity force
+			d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);		
+
+
+			// apply friction
+            Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
+            m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
+        } // end MoveLinear()
+        
+        private void MoveAngular(float pTimestep)
+        {
+	        /*
+	        private Vector3 m_angularMotorDirection = Vector3.Zero;			// angular velocity requested by LSL motor 
+	        private int m_angularMotorApply = 0;							// application frame counter
+ 	        private float m_angularMotorVelocity = 0;						// current angular motor velocity (ramps up and down) 
+	        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
+			*/
+//if(frcount == 0) Console.WriteLine("MoveAngular ");	
+        
+        	// Get what the body is doing, this includes 'external' influences
+        	d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
+   //     	Vector3 angularVelocity = Vector3.Zero;
+        	
+        	if (m_angularMotorApply > 0)
+        	{	
+				// ramp up to new value
+				//   current velocity  += 		                error       				/    ( time to get there / step interval )
+				//							   requested speed     	   -  last motor speed
+				m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) /  (m_angularMotorTimescale / pTimestep);
+				m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) /  (m_angularMotorTimescale / pTimestep);
+				m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) /  (m_angularMotorTimescale / pTimestep);
+
+				m_angularMotorApply--;		// This is done so that if script request rate is less than phys frame rate the expected
+											// velocity may still be acheived.
+			}
+			else
+			{
+				// no motor recently applied, keep the body velocity
+		/*		m_angularMotorVelocity.X = angularVelocity.X;
+				m_angularMotorVelocity.Y = angularVelocity.Y;
+				m_angularMotorVelocity.Z = angularVelocity.Z; */
+				
+				// and decay the velocity
+				m_angularMotorVelocity -= m_angularMotorVelocity /  (m_angularMotorDecayTimescale / pTimestep);
+			} // end motor section
+			
+
+            // Vertical attractor section
+			Vector3 vertattr = Vector3.Zero;
+            
+			if(m_verticalAttractionTimescale < 300)
+			{
+	            float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
+	    	    // get present body rotation
+	    	    d.Quaternion rot = d.BodyGetQuaternion(Body);
+	    	    Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
+	    	    // make a vector pointing up
+				Vector3 verterr = Vector3.Zero;
+				verterr.Z = 1.0f;
+				// rotate it to Body Angle
+				verterr = verterr * rotq;
+				// verterr.X and .Y are the World error ammounts. 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.
+				if (verterr.Z < 0.0f)
+				{
+					verterr.X = 2.0f - verterr.X;
+					verterr.Y = 2.0f - verterr.Y;
+				}
+				// Error is 0 (no error) to +/- 2 (max error)
+				// scale it by VAservo
+				verterr = verterr * VAservo;
+//if(frcount == 0) Console.WriteLine("VAerr=" + verterr);	
+
+				// As the body rotates around the X axis, then verterr.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 =    verterr.Y;
+				vertattr.Y =  - verterr.X;
+				vertattr.Z = 0f;
+				
+									// scaling appears better usingsquare-law
+				float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);  
+				vertattr.X += bounce * angularVelocity.X;
+				vertattr.Y += bounce * angularVelocity.Y;
+				
+			} // else vertical attractor is off
+			
+	//		m_lastVertAttractor = vertattr;
+				
+			// Bank section tba
+			// Deflection section tba
+			
+			// Sum velocities
+			m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // tba: + bank + deflection
+			
+        	if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
+            {
+				if(!d.BodyIsEnabled (Body))  d.BodyEnable (Body);
+			}
+			else
+			{
+				m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
+			}
+			
+ 			// apply friction
+            Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
+	        m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;   	
+	        		
+			// Apply to the body
+			d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
+				
+	    } //end MoveAngular
+	}
+}

OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs

@@ -0,0 +1,375 @@
+/*
+ * 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.Runtime.InteropServices;
+using System.Text;
+using OpenMetaverse;
+using OpenSim.Region.Physics.Manager;
+using Ode.NET;
+using log4net;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    /// <summary>
+    /// Processes raycast requests as ODE is in a state to be able to do them.
+    /// This ensures that it's thread safe and there will be no conflicts.
+    /// Requests get returned by a different thread then they were requested by.
+    /// </summary>
+    public class ODERayCastRequestManager
+    {
+        /// <summary>
+        /// Pending Raycast Requests
+        /// </summary>
+        protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();
+
+        /// <summary>
+        /// Scene that created this object.
+        /// </summary>
+        private OdeScene m_scene;
+
+        /// <summary>
+        /// ODE contact array to be filled by the collision testing
+        /// </summary>
+        d.ContactGeom[] contacts = new d.ContactGeom[5];
+
+        /// <summary>
+        /// ODE near callback delegate
+        /// </summary>
+        private d.NearCallback nearCallback;
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        private List<ContactResult> m_contactResults = new List<ContactResult>();
+
+
+        public ODERayCastRequestManager(OdeScene pScene)
+        {
+            m_scene = pScene;
+            nearCallback = near;
+            
+        }
+
+        /// <summary>
+        /// Queues a raycast
+        /// </summary>
+        /// <param name="position">Origin of Ray</param>
+        /// <param name="direction">Ray normal</param>
+        /// <param name="length">Ray length</param>
+        /// <param name="retMethod">Return method to send the results</param>
+        public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
+        {
+            lock (m_PendingRequests)
+            {
+                ODERayCastRequest req = new ODERayCastRequest();
+                req.callbackMethod = retMethod;
+                req.length = length;
+                req.Normal = direction;
+                req.Origin = position;
+
+                m_PendingRequests.Add(req);
+            }
+        }
+
+        /// <summary>
+        /// Process all queued raycast requests
+        /// </summary>
+        /// <returns>Time in MS the raycasts took to process.</returns>
+        public int ProcessQueuedRequests()
+        {
+            int time = System.Environment.TickCount;
+            lock (m_PendingRequests)
+            {
+                if (m_PendingRequests.Count > 0)
+                {
+                    ODERayCastRequest[] reqs = m_PendingRequests.ToArray();
+                    for (int i = 0; i < reqs.Length; i++)
+                    {
+                        if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast 
+                            RayCast(reqs[i]);               // if there isn't anyone to send results   
+                    }
+                    /*
+                    foreach (ODERayCastRequest req in m_PendingRequests)
+                    {
+                        if (req.callbackMethod != null) // quick optimization here, don't raycast 
+                            RayCast(req);               // if there isn't anyone to send results to
+                            
+                    }
+                    */
+                    m_PendingRequests.Clear();
+                }
+            }
+
+            lock (m_contactResults)
+                m_contactResults.Clear();
+
+            return System.Environment.TickCount - time;
+        }
+
+        /// <summary>
+        /// Method that actually initiates the raycast
+        /// </summary>
+        /// <param name="req"></param>
+        private void RayCast(ODERayCastRequest req)
+        {
+            // Create the ray
+            IntPtr ray = d.CreateRay(m_scene.space, req.length);
+            d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
+
+            // Collide test
+            d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
+
+            // Remove Ray
+            d.GeomDestroy(ray);
+
+
+            // Define default results
+            bool hitYN = false;
+            uint hitConsumerID = 0;
+            float distance = 999999999999f;
+            Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
+            Vector3 snormal = Vector3.Zero;
+
+            // Find closest contact and object.
+            lock (m_contactResults)
+            {
+                foreach (ContactResult cResult in m_contactResults)
+                {
+                    if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
+                    {
+                        closestcontact = cResult.Pos;
+                        hitConsumerID = cResult.ConsumerID;
+                        distance = cResult.Depth;
+                        hitYN = true;
+                        snormal = cResult.Normal;
+                    }
+                }
+
+                m_contactResults.Clear();
+            }
+
+            // Return results
+            if (req.callbackMethod != null)
+                req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
+        }
+
+        // This is the standard Near.   Uses space AABBs to speed up detection.
+        private void near(IntPtr space, IntPtr g1, IntPtr g2)
+        {
+
+            //Don't test against heightfield Geom, or you'll be sorry!
+            
+            /*
+             terminate called after throwing an instance of 'std::bad_alloc'
+                  what():  std::bad_alloc
+                Stacktrace:
+                 
+                  at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
+                  at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
+                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
+                  at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
+                fffff>
+                  at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
+                  at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
+                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
+                0x00114>
+                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
+                  at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
+                  at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
+                  at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
+                  at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
+                  at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
+                 
+                Native stacktrace:
+                 
+                        mono [0x80d2a42]
+                        [0xb7f5840c]
+                        /lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
+                        /usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
+                        /usr/lib/libstdc++.so.6 [0xb45fa865]
+                        /usr/lib/libstdc++.so.6 [0xb45fa8a2]
+                        /usr/lib/libstdc++.so.6 [0xb45fa9da]
+                        /usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
+                        /usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
+                        libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
+                        libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
+                        libode.so(dCollide+0x102) [0xb46571b2]
+                        [0x95cfdec9]
+                        [0x8ea07fe1]
+                        [0xab260146]
+                        libode.so [0xb465a5c4]
+                        libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
+                        libode.so(dSpaceCollide2+0x177) [0xb465ac67]
+                        [0x95cf978e]
+                        [0x8ea07945]
+                        [0x95cf2bbc]
+                        [0xab2787e7]
+                        [0xab419fb3]
+                        [0xab416657]
+                        [0xab415bda]
+                        [0xb609b08e]
+                        mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
+                        mono [0x81a2f0f]
+                        mono [0x81d28b6]
+                        mono [0x81ea2c6]
+                        /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
+                        /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
+             */
+
+            // Exclude heightfield geom
+
+            if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                return;
+            if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
+                return;
+
+            // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
+            if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
+            {
+                if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                    return;
+                
+                // Separating static prim geometry spaces.
+                // We'll be calling near recursivly if one
+                // of them is a space to find all of the
+                // contact points in the space
+                try
+                {
+                    d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
+                }
+                catch (AccessViolationException)
+                {
+                    m_log.Warn("[PHYSICS]: Unable to collide test a space");
+                    return;
+                }
+                //Colliding a space or a geom with a space or a geom. so drill down
+
+                //Collide all geoms in each space..
+                //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
+                //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
+                return;
+            }
+
+            if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                return;
+
+            int count = 0;
+            try
+            {
+                
+                if (g1 == g2)
+                    return; // Can't collide with yourself
+
+                lock (contacts)
+                {
+                    count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
+                }
+            }
+            catch (SEHException)
+            {
+                m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory.  This could be a result of really irregular terrain.  If this repeats continuously, restart using Basic Physics and terrain fill your terrain.  Restarting the sim.");
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
+                return;
+            }
+
+            PhysicsActor p1 = null;
+            PhysicsActor p2 = null;
+
+            if (g1 != IntPtr.Zero)
+                m_scene.actor_name_map.TryGetValue(g1, out p1);
+
+            if (g2 != IntPtr.Zero)
+                m_scene.actor_name_map.TryGetValue(g1, out p2);
+
+            // Loop over contacts, build results.
+            for (int i = 0; i < count; i++)
+            {
+                if (p1 != null) { 
+                    if (p1 is OdePrim)
+                    {
+                        ContactResult collisionresult = new ContactResult();
+                    
+                        collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
+                        collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
+                        collisionresult.Depth = contacts[i].depth;
+                        collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
+                                                             contacts[i].normal.Z);
+                        lock (m_contactResults)
+                            m_contactResults.Add(collisionresult);
+                    }
+                }
+
+                if (p2 != null)
+                {
+                    if (p2 is OdePrim)
+                    {
+                        ContactResult collisionresult = new ContactResult();
+
+                        collisionresult.ConsumerID = ((OdePrim)p2).m_localID;
+                        collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
+                        collisionresult.Depth = contacts[i].depth;
+                        collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
+                                      contacts[i].normal.Z);
+
+                        lock (m_contactResults)
+                            m_contactResults.Add(collisionresult);
+                    }
+                }
+
+                
+            }
+
+        }
+
+        /// <summary>
+        /// Dereference the creator scene so that it can be garbage collected if needed.
+        /// </summary>
+        internal void Dispose()
+        {
+            m_scene = null;
+        }
+    }
+
+    public struct ODERayCastRequest
+    {
+        public Vector3 Origin;
+        public Vector3 Normal;
+        public float length;
+        public RaycastCallback callbackMethod;
+    }
+
+    public struct ContactResult
+    {
+        public Vector3 Pos;
+        public float Depth;
+        public uint ConsumerID;
+        public Vector3 Normal;
+    }
+}

OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs

@@ -0,0 +1,48 @@
+/*
+ * 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 OpenMetaverse;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.Physics.OdePlugin;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    class OdePhysicsJoint : PhysicsJoint
+    {
+        public override bool IsInPhysicsEngine
+        {
+            get
+            {
+                return (jointID != IntPtr.Zero);
+            }
+        }
+        public IntPtr jointID;
+    }
+}

OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs

@@ -0,0 +1,122 @@
+/*
+ * 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 Nini.Config;
+using NUnit.Framework;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using log4net;
+using System.Reflection;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    [TestFixture]
+    public class ODETestClass
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private OdePlugin cbt;
+        private PhysicsScene ps;
+        private IMeshingPlugin imp;
+
+        [SetUp]
+        public void Initialize()
+        {
+            // Loading ODEPlugin
+            cbt = new OdePlugin();
+            // Loading Zero Mesher
+            imp = new ZeroMesherPlugin();
+            // Getting Physics Scene
+            ps = cbt.GetScene("test");
+            // Initializing Physics Scene.
+            ps.Initialise(imp.GetMesher(),null);
+            float[] _heightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
+            for (int i = 0; i < ((int)Constants.RegionSize * (int)Constants.RegionSize); i++)
+            {
+                _heightmap[i] = 21f;
+            }
+            ps.SetTerrain(_heightmap);
+        }
+
+        [TearDown]
+        public void Terminate()
+        {
+            ps.DeleteTerrain();
+            ps.Dispose();
+
+        }
+
+        [Test]
+        public void CreateAndDropPhysicalCube()
+        {
+            PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
+            Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
+            Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
+            Quaternion rot = Quaternion.Identity;
+            PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true);
+            OdePrim oprim = (OdePrim)prim;
+            OdeScene pscene = (OdeScene) ps;
+
+            Assert.That(oprim.m_taintadd);
+
+            prim.LocalID = 5;
+
+            for (int i = 0; i < 58; i++)
+            {
+                ps.Simulate(0.133f);
+
+                Assert.That(oprim.prim_geom != (IntPtr)0);
+
+                Assert.That(oprim.m_targetSpace != (IntPtr)0);
+
+                //Assert.That(oprim.m_targetSpace == pscene.space);
+                m_log.Info("TargetSpace: " + oprim.m_targetSpace + " - SceneMainSpace: " + pscene.space);
+
+                Assert.That(!oprim.m_taintadd);
+                m_log.Info("Prim Position (" + oprim.m_localID + "): " + prim.Position.ToString());
+
+                // Make sure we're above the ground
+                //Assert.That(prim.Position.Z > 20f);
+                //m_log.Info("PrimCollisionScore (" + oprim.m_localID + "): " + oprim.m_collisionscore);
+
+                // Make sure we've got a Body
+                Assert.That(oprim.Body != (IntPtr)0);
+                //m_log.Info(
+            }
+
+            // Make sure we're not somewhere above the ground
+            Assert.That(prim.Position.Z < 21.5f);
+
+            ps.RemovePrim(prim);
+            Assert.That(oprim.m_taintremove);
+            ps.Simulate(0.133f);
+            Assert.That(oprim.Body == (IntPtr)0);
+        }
+    }
+}

OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs

@@ -0,0 +1,98 @@
+/*
+ * Copyright ODE
+ * Ode.NET - .NET bindings for ODE
+ *  Jason Perkins (starkos@industriousone.com)
+ *  Licensed under the New BSD
+ *  Part of the OpenDynamicsEngine
+Open Dynamics Engine
+Copyright (c) 2001-2007, Russell L. Smith.
+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.
+
+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 names of ODE's copyright owner 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.Runtime.InteropServices;
+using Ode.NET;
+
+namespace Drawstuff.NET
+{
+#if dDOUBLE
+    using dReal = System.Double;
+#else
+    using dReal = System.Single;
+#endif
+
+    public static class ds
+    {
+        public const int VERSION = 2;
+
+        public enum Texture
+        {
+            None,
+            Wood
+        }
+
+        [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+        public delegate void CallbackFunction(int arg);
+
+        [StructLayout(LayoutKind.Sequential)]
+        public struct Functions
+        {
+            public int version;
+            public CallbackFunction start;
+            public CallbackFunction step;
+            public CallbackFunction command;
+            public CallbackFunction stop;
+            public string path_to_textures;
+        }
+
+        [DllImport("drawstuff", EntryPoint = "dsDrawBox")]
+        public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
+
+        [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
+        public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
+
+        [DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
+        public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
+
+        [DllImport("drawstuff", EntryPoint = "dsSetColor")]
+        public static extern void SetColor(float red, float green, float blue);
+
+        [DllImport("drawstuff", EntryPoint = "dsSetTexture")]
+        public static extern void SetTexture(Texture texture);
+
+        [DllImport("drawstuff", EntryPoint = "dsSetViewpoint")]
+        public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
+
+        [DllImport("drawstuff", EntryPoint = "dsSimulationLoop")]
+        public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
+    }
+}

OpenSim/Region/Physics/Manager/PhysicsActor.cs

@@ -487,7 +487,6 @@ namespace OpenSim.Region.Physics.Manager
         public override float APIDStrength { set { return; } }
         public override float APIDDamping { set { return; } }
         
-
         public override void SetMomentum(Vector3 momentum)
         {
         }

OpenSim/Region/Physics/OdePlugin/ODECharacter.cs

@@ -1197,27 +1197,13 @@ namespace OpenSim.Region.Physics.OdePlugin
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
         
-        public override Quaternion APIDTarget
+        public override Quaternion APIDTarget{ set { return; } }
-        {
-            set { return; }
-        }
 
-        public override bool APIDActive
+        public override bool APIDActive{ set { return; } }
-        {
-            set { return; }
-        }
-
-        public override float APIDStrength
-        {
-            set { return; }
-        }
-
-        public override float APIDDamping
-        {
-            set { return; }
-        }
 
+        public override float APIDStrength{ set { return; } }
 
+        public override float APIDDamping{ set { return; } }
 
         public override void SubscribeEvents(int ms)
         {

OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs

@@ -23,19 +23,6 @@
  * 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.
- *
- * 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.
- * 
  */
 
 /* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
@@ -133,7 +120,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 //        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;			// Set by VEHICLE_BUOYANCY, for a vehicle.
+        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. 
@@ -492,7 +479,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 	        Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);	// rotq = rotation of object
 	        m_dir *= rotq;							// apply obj rotation to velocity vector
 
-			// add Gravity and Buoyancy
+			// add Gravity andBuoyancy
 			// KF: So far I have found no good method to combine a script-requested
 			// .Z velocity and gravity. Therefore only 0g will used script-requested
 			// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
@@ -574,7 +561,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 	        private Vector3 m_angularFrictionTimescale = Vector3.Zero;		// body angular velocity  decay rate
 	        private Vector3 m_lastAngularVelocity = Vector3.Zero;			// what was last applied to body
 			*/
-//if(frcount == 0) Console.WriteLine("MoveAngular ");	
         
         	// Get what the body is doing, this includes 'external' influences
         	d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
@@ -650,7 +636,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 			// Deflection section tba
 			
 			// Sum velocities
-			m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // tba: + bank + deflection
+			m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
 			
         	if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
             {

OpenSim/Region/Physics/OdePlugin/ODEPrim.cs

@@ -21,18 +21,6 @@
  * 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.
- *
- * Revised August 26 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.
  */
 
 /*
@@ -93,12 +81,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private float m_PIDTau;
         private float PID_D = 35f;
         private float PID_G = 25f;
-        private bool m_usePID = false;
+        private bool m_usePID;
-        
-        private Quaternion m_APIDTarget = new Quaternion();
-        private float m_APIDStrength = 0.5f;
-        private float m_APIDDamping = 0.5f;
-        private bool m_useAPID = false;
 
         // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
         // and are for non-VEHICLES only.
@@ -200,9 +183,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         internal int m_material = (int)Material.Wood;
 
-        private int frcount = 0;										// Used to limit dynamics debug output to 
-
-
         public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
                        Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
         {
@@ -1581,14 +1561,9 @@ Console.WriteLine(" JointCreateFixed");
             float fy = 0;
             float fz = 0;
 
-            frcount++;					// used to limit debug comment output
-            if (frcount > 100)
-                frcount = 0;
                 
             if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim)		// KF: Only move root prims.
             {
-//if(frcount == 0) Console.WriteLine("Move " +  m_primName + "  VTyp " + m_vehicle.Type +
-			//			"    usePID=" + m_usePID  + "    seHover=" + m_useHoverPID  + "  useAPID=" + m_useAPID);           	
             	if (m_vehicle.Type != Vehicle.TYPE_NONE)
             	{
             		// 'VEHICLES' are dealt with in ODEDynamics.cs
@@ -1596,6 +1571,7 @@ Console.WriteLine(" JointCreateFixed");
             	}
             	else
             	{
+//Console.WriteLine("Move " +  m_primName);           	
             		if(!d.BodyIsEnabled (Body))  d.BodyEnable (Body); // KF add 161009
             		// NON-'VEHICLES' are dealt with here
 	                if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f))
@@ -1617,18 +1593,21 @@ Console.WriteLine(" JointCreateFixed");
                     //m_log.Info(m_collisionFlags.ToString());
 
 	                
-	                //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
+	                //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
+	                // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ??
 	                // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up 
-	                // NB Prims in ODE are no subject to global gravity
+	                // gravityz multiplier = 1 - m_buoyancy
-	                fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
+	                fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass;
 
 	                if (m_usePID)
 	                {
-//if(frcount == 0) Console.WriteLine("PID " +  m_primName);           	
+//Console.WriteLine("PID " +  m_primName);           	
-                    	// KF - this is for object MoveToTarget.
+                    	// KF - this is for object move? eg. llSetPos() ?
-                    	
 	                    //if (!d.BodyIsEnabled(Body))
 	                    //d.BodySetForce(Body, 0f, 0f, 0f);
+	                    // If we're using the PID controller, then we have no gravity
+	                    //fz = (-1 * _parent_scene.gravityz) * m_mass; 	//KF: ?? Prims have no global gravity,so simply...
+	                    fz = 0f;
 
 	                    //  no lock; for now it's only called from within Simulate()
 	
@@ -1763,7 +1742,7 @@ Console.WriteLine(" JointCreateFixed");
     	                    d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
     	                    d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
     	                    d.BodyAddForce(Body, 0, 0, fz);
-    	            //KF this prevents furthur motions        return;
+    	                    return;
     	                }
     	                else
     	                {
@@ -1772,45 +1751,7 @@ Console.WriteLine(" JointCreateFixed");
     	                    // We're flying and colliding with something
     	                    fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
     	                }
-    	            } // end m_useHoverPID && !m_usePID
+    	            }
-    	            
-	                if (m_useAPID)
-	                {
-	                	// RotLookAt, apparently overrides all other rotation sources. Inputs:
-	                	// Quaternion m_APIDTarget
-						// float m_APIDStrength		// From SL experiments, this is the time to get there
-						// float m_APIDDamping		// From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
-													// Also in SL the mass of the object has no effect on time to get there.
-						// Factors:
-//if(frcount == 0) Console.WriteLine("APID ");							
-			    	    // get present body rotation
-			    	    float limit = 1.0f;
-			    	    float scaler = 50f;		// adjusts damping time
-			    	    float RLAservo = 0f;
-			    	    
-			    	    d.Quaternion rot = d.BodyGetQuaternion(Body);
-			    	    Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
-			    	    Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget;
-                        float diff_angle;
-                        Vector3 diff_axis;
-                        rot_diff.GetAxisAngle(out diff_axis, out diff_angle);
-                        diff_axis.Normalize();
-						if(diff_angle > 0.01f)			// diff_angle is always +ve
-						{
-//	                        PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z);
-	                        Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
-    	                    rotforce = rotforce * rotq;
-    	                    if(diff_angle > limit) diff_angle = limit;		// cap the rotate rate
-//    	                    RLAservo = timestep / m_APIDStrength * m_mass * scaler;
-  //  	                    rotforce = rotforce * RLAservo * diff_angle ;
-    //	                    d.BodyAddRelTorque(Body, rotforce.X, rotforce.Y, rotforce.Z);
-    	                    RLAservo = timestep / m_APIDStrength * scaler;
-    	                    rotforce = rotforce * RLAservo * diff_angle ;
-							d.BodySetAngularVel (Body,  rotforce.X, rotforce.Y, rotforce.Z);
-//Console.WriteLine("axis= " + diff_axis + "    angle= " + diff_angle + "servo= " + RLAservo);							
-						}
-//if(frcount == 0) Console.WriteLine("mass= " + m_mass + "  servo= " + RLAservo + "   angle= " + diff_angle);							
-	                } // end m_useAPID
 
     	            fx *= m_mass;
     	            fy *= m_mass;
@@ -2682,10 +2623,6 @@ Console.WriteLine(" JointCreateFixed");
                     l_orientation.Z = ori.Z;
                     l_orientation.W = ori.W;
 
-//	if(l_position.Y != m_lastposition.Y){
-//		Console.WriteLine("UP&V {0}  {1}", m_primName, l_position);
-//	}
-
                     if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) || l_position.X < 0f || l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) || l_position.Y < 0f)
                     {
                         //base.RaiseOutOfBounds(l_position);
@@ -2886,17 +2823,20 @@ Console.WriteLine(" JointCreateFixed");
         public override bool PIDActive { set { m_usePID = value; } }
         public override float PIDTau { set { m_PIDTau = value; } }
         
-		// For RotLookAt        
-        public override Quaternion APIDTarget { set { m_APIDTarget = value; } }
-        public override bool APIDActive { set { m_useAPID = value; } }
-        public override float APIDStrength { set { m_APIDStrength = value; } }
-        public override float APIDDamping { set { m_APIDDamping = value; } }
-
         public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
         public override bool PIDHoverActive { set { m_useHoverPID = value; } }
         public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
         public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
         
+        public override Quaternion APIDTarget{ set { return; } }
+
+        public override bool APIDActive{ set { return; } }
+
+        public override float APIDStrength{ set { return; } }
+
+        public override float APIDDamping{ set { return; } }
+
+
         private void createAMotor(Vector3 axis)
         {
             if (Body == IntPtr.Zero)

OpenSim/Region/Physics/POSPlugin/POSPrim.cs

@@ -299,6 +299,7 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
             set { return; }
         }
+
         public override Quaternion APIDTarget
         {
             set { return; }

OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs

@@ -2781,7 +2781,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             
         }
 
-
         public void llStopLookAt()
         {
             m_host.AddScriptLPS(1);
@@ -7523,9 +7522,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         break;
 
                     case (int)ScriptBaseClass.PRIM_POSITION:
-                        res.Add(new LSL_Vector(part.AbsolutePosition.X,
+                        LSL_Vector v = new LSL_Vector(part.AbsolutePosition.X,
                                                       part.AbsolutePosition.Y,
-                                                      part.AbsolutePosition.Z));
+                                                      part.AbsolutePosition.Z);
+                        // For some reason, the part.AbsolutePosition.* values do not change if the
+                        // linkset is rotated; they always reflect the child prim's world position
+                        // as though the linkset is unrotated. This is incompatible behavior with SL's
+                        // implementation, so will break scripts imported from there (not to mention it
+                        // makes it more difficult to determine a child prim's actual inworld position).
+                        if (part.ParentID != 0)
+                            v = ((v - llGetRootPosition()) * llGetRootRotation()) + llGetRootPosition();
+                        res.Add( v );
                         break;
 
                     case (int)ScriptBaseClass.PRIM_SIZE:
@@ -7543,6 +7550,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                         PrimitiveBaseShape Shape = part.Shape;
                         int primType = getScriptPrimType(part.Shape);
                         res.Add(new LSL_Integer(primType));
+                        double topshearx = (double)(sbyte)Shape.PathShearX / 100.0; // Fix negative values for PathShearX
+                        double topsheary = (double)(sbyte)Shape.PathShearY / 100.0; // and PathShearY.
                         switch (primType)
                         {
                             case ScriptBaseClass.PRIM_TYPE_BOX:
@@ -7553,7 +7562,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                                 res.Add(new LSL_Float(Shape.ProfileHollow / 50000.0));
                                 res.Add(new LSL_Vector(Shape.PathTwistBegin / 100.0, Shape.PathTwist / 100.0, 0));
                                 res.Add(new LSL_Vector(1 - (Shape.PathScaleX / 100.0 - 1), 1 - (Shape.PathScaleY / 100.0 - 1), 0));
-                                res.Add(new LSL_Vector(Shape.PathShearX / 100.0, Shape.PathShearY / 100.0, 0));
+                                res.Add(new LSL_Vector(topshearx, topsheary, 0));
                                 break;
 
                             case ScriptBaseClass.PRIM_TYPE_SPHERE:
@@ -7588,7 +7597,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                                 res.Add(new LSL_Vector(1 - (Shape.PathScaleX / 100.0 - 1), 1 - (Shape.PathScaleY / 100.0 - 1), 0));
 
                                 // vector topshear
-                                res.Add(new LSL_Vector(Shape.PathShearX / 100.0, Shape.PathShearY / 100.0, 0));
+                                res.Add(new LSL_Vector(topshearx, topsheary, 0));
 
                                 // vector profilecut
                                 res.Add(new LSL_Vector(Shape.ProfileBegin / 50000.0, 1 - Shape.ProfileEnd / 50000.0, 0));
@@ -7597,7 +7606,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                                 res.Add(new LSL_Vector(Shape.PathTaperX / 100.0, Shape.PathTaperY / 100.0, 0));
 
                                 // float revolutions
-                                res.Add(new LSL_Float(Shape.PathRevolutions / 50.0)); // needs fixing :(
+                                res.Add(new LSL_Float((Shape.PathRevolutions * 0.015) + 1.0)); // Slightly inaccurate, because an unsigned
+                                                                                               // byte is being used to represent the entire
+                                                                                               // range of floating-point values from 1.0
+                                                                                               // through 4.0 (which is how SL does it). 
                         
                                 // float radiusoffset
                                 res.Add(new LSL_Float(Shape.PathRadiusOffset / 100.0));

OpenSim/Region/ScriptEngine/Shared/CodeTools/CSCodeGenerator.cs

@@ -111,7 +111,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
                 if (emessage.StartsWith(slinfo+": "))
                     emessage = emessage.Substring(slinfo.Length+2);
 
-                message = String.Format("Line ({0},{1}) {2}",
+                message = String.Format("({0},{1}) {2}",
                         e.slInfo.lineNumber - 2,
                         e.slInfo.charPosition - 1, emessage);
 

OpenSim/Region/ScriptEngine/Shared/CodeTools/Compiler.cs

@@ -623,7 +623,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.CodeTools
 
                         // The Second Life viewer's script editor begins
                         // countingn lines and columns at 0, so we subtract 1.
-                        errtext += String.Format("Line ({0},{1}): {4} {2}: {3}\n",
+                        errtext += String.Format("({0},{1}): {4} {2}: {3}\n",
                                 lslPos.Key - 1, lslPos.Value - 1,
                                 CompErr.ErrorNumber, text, severity);
                         hadErrors = true;

OpenSim/Region/ScriptEngine/Shared/CodeTools/Tests/CSCodeGeneratorTest.cs

@@ -1673,7 +1673,7 @@ default
             {
                 // The syntax error is on line 6, char 5 (expected ';', found
                 // '}').
-                Assert.AreEqual("Line (4,4) syntax error", e.Message);
+                Assert.AreEqual("(4,4) syntax error", e.Message);
                 throw;
             }
         }
@@ -1698,7 +1698,7 @@ default
             catch (System.Exception e)
             {
                 // The syntax error is on line 5, char 14 (Syntax error)
-                Assert.AreEqual("Line (3,13) syntax error", e.Message);
+                Assert.AreEqual("(3,13) syntax error", e.Message);
 
                 throw;
             }

OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs

@@ -974,7 +974,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
                             if (col == 0)
                                 col++;
                             message = string.Format("Runtime error:\n" +
-                                    "Line ({0}): {1}", scriptLine - 1,
+                                    "({0}): {1}", scriptLine - 1,
                                     e.InnerException.Message);
 
                             System.Console.WriteLine(e.ToString()+"\n");

OpenSim/Region/ScriptEngine/XEngine/XEngine.cs

@@ -78,6 +78,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
         private string m_ScriptErrorMessage;
         private Dictionary<string, string> m_uniqueScripts = new Dictionary<string, string>();
         private bool m_AppDomainLoading;
+        private Dictionary<UUID,ArrayList> m_ScriptErrors =
+                new Dictionary<UUID,ArrayList>();
 
         // disable warning: need to keep a reference to XEngine.EventManager
         // alive to avoid it being garbage collected
@@ -657,87 +659,97 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 
             Dictionary<KeyValuePair<int, int>, KeyValuePair<int, int>> linemap;
 
-            try
+            lock(m_ScriptErrors)
-            {
-                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 {
-                        m_AddingAssemblies[assembly]++;
-                    }
-                }
-
-                string[] warnings = m_Compiler.GetWarnings();
-
-                if (warnings != null && warnings.Length != 0)
-                {
-                    foreach (string warning in warnings)
-                    {
-                        try
-                        {
-                            // DISPLAY WARNING INWORLD
-                            string text = "Warning:\n" + warning;
-                            if (text.Length > 1000)
-                                text = text.Substring(0, 1000);
-                            if (!ShowScriptSaveResponse(item.OwnerID,
-                                    assetID, text, true))
-                            {
-                                if (presence != null && (!postOnRez))
-                                    presence.ControllingClient.SendAgentAlertMessage("Script saved with warnings, check debug window!", false);
-
-                                World.SimChat(Utils.StringToBytes(text),
-                                              ChatTypeEnum.DebugChannel, 2147483647,
-                                              part.AbsolutePosition,
-                                              part.Name, part.UUID, false);
-                            }
-                        }
-                        catch (Exception e2) // LEGIT: User Scripting
-                        {
-                            m_log.Error("[XEngine]: " +
-                                    "Error displaying warning in-world: " +
-                                    e2.ToString());
-                            m_log.Error("[XEngine]: " +
-                                    "Warning:\r\n" +
-                                    warning);
-                        }
-                    }
-                }
-            }
-            catch (Exception e)
             {
                 try
                 {
-                    // DISPLAY ERROR INWORLD
+                    lock (m_AddingAssemblies) 
-                    m_ScriptErrorMessage += "Failed to compile script in object: '" + part.ParentGroup.RootPart.Name + "' Script name: '" + item.Name + "' Error message: " + e.Message.ToString();
-
-                    m_ScriptFailCount++;
-                    string text = "Error compiling script '" + item.Name + "':\n" + e.Message.ToString();
-                    if (text.Length > 1000)
-                        text = text.Substring(0, 1000);
-                    if (!ShowScriptSaveResponse(item.OwnerID,
-                            assetID, text, false))
                     {
-                        if (presence != null && (!postOnRez))
+                        m_Compiler.PerformScriptCompile(script, assetID.ToString(), item.OwnerID, out assembly, out linemap);
-                            presence.ControllingClient.SendAgentAlertMessage("Script saved with errors, check debug window!", false);
+                        if (!m_AddingAssemblies.ContainsKey(assembly)) {
-                        World.SimChat(Utils.StringToBytes(text),
+                            m_AddingAssemblies[assembly] = 1;
-                                      ChatTypeEnum.DebugChannel, 2147483647,
+                        } else {
-                                      part.AbsolutePosition,
+                            m_AddingAssemblies[assembly]++;
-                                      part.Name, part.UUID, false);
+                        }
+                    }
+
+                    string[] warnings = m_Compiler.GetWarnings();
+
+                    if (warnings != null && warnings.Length != 0)
+                    {
+                        foreach (string warning in warnings)
+                        {
+                            if (!m_ScriptErrors.ContainsKey(itemID))
+                                m_ScriptErrors[itemID] = new ArrayList();
+
+                            m_ScriptErrors[itemID].Add(warning);
+    //                        try
+    //                        {
+    //                            // DISPLAY WARNING INWORLD
+    //                            string text = "Warning:\n" + warning;
+    //                            if (text.Length > 1000)
+    //                                text = text.Substring(0, 1000);
+    //                            if (!ShowScriptSaveResponse(item.OwnerID,
+    //                                    assetID, text, true))
+    //                            {
+    //                                if (presence != null && (!postOnRez))
+    //                                    presence.ControllingClient.SendAgentAlertMessage("Script saved with warnings, check debug window!", false);
+    //
+    //                                World.SimChat(Utils.StringToBytes(text),
+    //                                              ChatTypeEnum.DebugChannel, 2147483647,
+    //                                              part.AbsolutePosition,
+    //                                              part.Name, part.UUID, false);
+    //                            }
+    //                        }
+    //                        catch (Exception e2) // LEGIT: User Scripting
+    //                        {
+    //                            m_log.Error("[XEngine]: " +
+    //                                    "Error displaying warning in-world: " +
+    //                                    e2.ToString());
+    //                            m_log.Error("[XEngine]: " +
+    //                                    "Warning:\r\n" +
+    //                                    warning);
+    //                        }
+                        }
                     }
                 }
-                catch (Exception e2) // LEGIT: User Scripting
+                catch (Exception e)
                 {
-                    m_log.Error("[XEngine]: "+
+    //                try
-                            "Error displaying error in-world: " +
+    //                {
-                            e2.ToString());
+                        if (!m_ScriptErrors.ContainsKey(itemID))
-                    m_log.Error("[XEngine]: " +
+                            m_ScriptErrors[itemID] = new ArrayList();
-                            "Errormessage: Error compiling script:\r\n" +
+                        // DISPLAY ERROR INWORLD
-                            e.Message.ToString());
+    //                    m_ScriptErrorMessage += "Failed to compile script in object: '" + part.ParentGroup.RootPart.Name + "' Script name: '" + item.Name + "' Error message: " + e.Message.ToString();
-                }
+    //
+                        m_ScriptFailCount++;
+                        m_ScriptErrors[itemID].Add(e.Message.ToString());
+    //                    string text = "Error compiling script '" + item.Name + "':\n" + e.Message.ToString();
+    //                    if (text.Length > 1000)
+    //                        text = text.Substring(0, 1000);
+    //                    if (!ShowScriptSaveResponse(item.OwnerID,
+    //                            assetID, text, false))
+    //                    {
+    //                        if (presence != null && (!postOnRez))
+    //                            presence.ControllingClient.SendAgentAlertMessage("Script saved with errors, check debug window!", false);
+    //                        World.SimChat(Utils.StringToBytes(text),
+    //                                      ChatTypeEnum.DebugChannel, 2147483647,
+    //                                      part.AbsolutePosition,
+    //                                      part.Name, part.UUID, false);
+    //                    }
+    //                }
+    //                catch (Exception e2) // LEGIT: User Scripting
+    //                {
+    //                    m_log.Error("[XEngine]: "+
+    //                            "Error displaying error in-world: " +
+    //                            e2.ToString());
+    //                    m_log.Error("[XEngine]: " +
+    //                            "Errormessage: Error compiling script:\r\n" +
+    //                            e.Message.ToString());
+    //                }
 
-                return false;
+                    return false;
+                }
             }
 
             
@@ -1252,7 +1264,6 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             return UUID.Zero;
         }
 
-        [DebuggerNonUserCode]
         public void SetState(UUID itemID, string newState)
         {
             IScriptInstance instance = GetInstance(itemID);
@@ -1260,13 +1271,6 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                 return;
             instance.SetState(newState);
         }
-        public string GetState(UUID itemID)
-        {
-            IScriptInstance instance = GetInstance(itemID);
-            if (instance == null)
-                return "default";
-            return instance.State;
-        }
 
         public int GetStartParameter(UUID itemID)
         {
@@ -1552,5 +1556,21 @@ namespace OpenSim.Region.ScriptEngine.XEngine
 
             return true;
         }
+
+        public ArrayList GetScriptErrors(UUID itemID)
+        {
+            System.Threading.Thread.Sleep(1000);
+
+            lock (m_ScriptErrors)
+            {
+                if (m_ScriptErrors.ContainsKey(itemID))
+                {
+                    ArrayList ret = m_ScriptErrors[itemID];
+                    m_ScriptErrors.Remove(itemID);
+                    return ret;
+                }
+                return new ArrayList();
+            }
+        }
     }
 }

OpenSim/Services/Connectors/Grid/HypergridServiceConnector.cs

@@ -151,6 +151,9 @@ namespace OpenSim.Services.Connectors.Grid
 
                 m_AssetService.Store(ass);
 
+                // finally
+                info.TerrainImage = ass.FullID;
+
             }
             catch // LEGIT: Catching problems caused by OpenJPEG p/invoke
             {

prebuild.xml

@@ -543,6 +543,36 @@
       </Files>
     </Project>
 
+ <Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.ChOdePlugin" path="OpenSim/Region/Physics/ChOdePlugin" type="Library">
+      <Configuration name="Debug">
+        <Options>
+          <OutputPath>../../../../bin/Physics/</OutputPath>
+        </Options>
+      </Configuration>
+      <Configuration name="Release">
+        <Options>
+          <OutputPath>../../../../bin/Physics/</OutputPath>
+        </Options>
+      </Configuration>
+
+      <ReferencePath>../../../../bin/</ReferencePath>
+      <Reference name="System"/>
+      <Reference name="System.Core"/>
+      <Reference name="OpenMetaverseTypes.dll"/>
+      <Reference name="Nini.dll" />
+      <Reference name="OpenSim.Framework"/>
+      <Reference name="OpenSim.Framework.Console"/>
+      <Reference name="OpenSim.Region.Physics.Manager"/>
+      <Reference name="Ode.NET.dll" />    
+      <Reference name="log4net.dll"/>
+
+      <Files>
+        <Match pattern="*.cs" recurse="true">
+          <Exclude name="Tests" pattern="Tests"/>
+        </Match>
+      </Files>
+    </Project>
+
     <Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.BulletXPlugin" path="OpenSim/Region/Physics/BulletXPlugin" type="Library">
       <Configuration name="Debug">
         <Options>