diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 787cb12eff..81e03ca0a8 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -30,6 +30,7 @@ using System.Collections.Generic;
 using System.Reflection;
 using System.Runtime.InteropServices;
 using System.Threading;
+using System.IO;
 using Axiom.Math;
 using log4net;
 using Nini.Config;
@@ -247,6 +248,11 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         private IConfigSource m_config;
 
+        public bool physics_logging = false;
+        public int physics_logging_interval = 0;
+        public bool physics_logging_append_existing_logfile = false;
+
+
         /// <summary>
         /// Initiailizes the scene
         /// Sets many properties that ODE requires to be stable
@@ -370,6 +376,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                         avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
                         bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
                     }
+
+                    physics_logging = physicsconfig.GetBoolean("physics_logging", false);
+                    physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
+                    physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
                 }
             }
 
@@ -1759,7 +1769,25 @@ namespace OpenSim.Region.Physics.OdePlugin
                         }
                     }
                 }
+
+		
+		// Finished with all sim stepping. If requested, dump world state to file for debugging.
+		// TODO: This call to the export function is already inside lock(OdeLock) - but is an extra lock needed?
+		// TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
+		if(physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0) ) {
+			string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
+			string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
+
+			if(physics_logging_append_existing_logfile) {
+				string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
+				TextWriter fwriter = File.AppendText(fname);
+				fwriter.WriteLine(header);
+				fwriter.Close();
+			}
+			d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
+		}
             }
+
             return fps;
         }
 
diff --git a/bin/Ode.NET.dll b/bin/Ode.NET.dll
index 8826b5ed89..5b296ebe14 100644
Binary files a/bin/Ode.NET.dll and b/bin/Ode.NET.dll differ
diff --git a/bin/OpenSim.ini.example b/bin/OpenSim.ini.example
index d61eef0d61..eb52e6b35f 100644
--- a/bin/OpenSim.ini.example
+++ b/bin/OpenSim.ini.example
@@ -309,6 +309,15 @@ mesh_lod = 32
 ; number^2 physical level of detail of the sculpt texture.  16x16 - 256 verticies
 mesh_physical_lod = 16
 
+; ##
+; ## Physics logging settings - logfiles are saved to *.DIF files
+; ##
+
+;physics_logging = true
+;; every n simulation iterations, the physics snapshot file is updated
+;physics_logging_interval = 50
+;; append to existing physics logfile, or overwrite existing logfiles?
+;physics_logging_append_existing_logfile = true
 
 [RemoteAdmin]
 enabled = false
@@ -617,4 +626,4 @@ EventLimit = 30
 ; If a script overruns it's event limit, kill the script?
 KillTimedOutScripts = false
 ; Allow OS console command functionality (VERY DANGEROUS!!)
-AllowosConsoleCommand = false
\ No newline at end of file
+AllowosConsoleCommand = false
diff --git a/bin/libode.so b/bin/libode.so
index b614780aa6..fccdf5b639 100644
Binary files a/bin/libode.so and b/bin/libode.so differ
diff --git a/bin/ode.dll b/bin/ode.dll
index 6fd9f1e06b..7ac31ade5b 100644
Binary files a/bin/ode.dll and b/bin/ode.dll differ