diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 526dbadd97..57d5726888 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -28,7 +28,7 @@ using System;
 using System.Collections.Generic;
 using System.Reflection;
 using log4net;
-using OpenMetaverse;
+using OMV = OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
 
@@ -39,25 +39,24 @@ public class BSCharacter : BSPhysObject
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS CHAR]";
 
-    public BSScene Scene { get; private set; }
     private String _avName;
     // private bool _stopped;
-    private Vector3 _size;
-    private Vector3 _scale;
+    private OMV.Vector3 _size;
+    private OMV.Vector3 _scale;
     private PrimitiveBaseShape _pbs;
     private uint _localID = 0;
     private bool _grabbed;
     private bool _selected;
-    private Vector3 _position;
+    private OMV.Vector3 _position;
     private float _mass;
     public float _density;
     public float _avatarVolume;
-    private Vector3 _force;
-    private Vector3 _velocity;
-    private Vector3 _torque;
+    private OMV.Vector3 _force;
+    private OMV.Vector3 _velocity;
+    private OMV.Vector3 _torque;
     private float _collisionScore;
-    private Vector3 _acceleration;
-    private Quaternion _orientation;
+    private OMV.Vector3 _acceleration;
+    private OMV.Quaternion _orientation;
     private int _physicsActorType;
     private bool _isPhysical;
     private bool _flying;
@@ -69,18 +68,14 @@ public class BSCharacter : BSPhysObject
     private long _collidingGroundStep;
     private bool _collidingObj;
     private bool _floatOnWater;
-    private Vector3 _rotationalVelocity;
+    private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
 
-    public override BulletBody BSBody { get; set; }
-    public override BulletShape BSShape { get; set; }
-    public override BSLinkset Linkset { get; set; }
-
     private int _subscribedEventsMs = 0;
     private int _nextCollisionOkTime = 0;
 
-    private Vector3 _PIDTarget;
+    private OMV.Vector3 _PIDTarget;
     private bool _usePID;
     private float _PIDTau;
     private bool _useHoverPID;
@@ -88,26 +83,24 @@ public class BSCharacter : BSPhysObject
     private PIDHoverType _PIDHoverType;
     private float _PIDHoverTao;
 
-    public BSCharacter(uint localID, String avName, BSScene parent_scene, Vector3 pos, Vector3 size, bool isFlying)
+    public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
     {
+        base.BaseInitialize(parent_scene);
         _localID = localID;
         _avName = avName;
-        Scene = parent_scene;
         _physicsActorType = (int)ActorTypes.Agent;
         _position = pos;
         _size = size;
         _flying = isFlying;
-        _orientation = Quaternion.Identity;
-        _velocity = Vector3.Zero;
+        _orientation = OMV.Quaternion.Identity;
+        _velocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
         // The dimensions of the avatar capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
-        _scale = new Vector3(Scene.Params.avatarCapsuleRadius, Scene.Params.avatarCapsuleRadius, size.Z);
-        _density = Scene.Params.avatarDensity;
+        _scale = new OMV.Vector3(PhysicsScene.Params.avatarCapsuleRadius, PhysicsScene.Params.avatarCapsuleRadius, size.Z);
+        _density = PhysicsScene.Params.avatarDensity;
         ComputeAvatarVolumeAndMass();   // set _avatarVolume and _mass based on capsule size, _density and _scale
 
-        Linkset = new BSLinkset(Scene, this);
-
         ShapeData shapeData = new ShapeData();
         shapeData.ID = _localID;
         shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
@@ -118,19 +111,19 @@ public class BSCharacter : BSPhysObject
         shapeData.Mass = _mass;
         shapeData.Buoyancy = _buoyancy;
         shapeData.Static = ShapeData.numericFalse;
-        shapeData.Friction = Scene.Params.avatarFriction;
-        shapeData.Restitution = Scene.Params.avatarRestitution;
+        shapeData.Friction = PhysicsScene.Params.avatarFriction;
+        shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
 
         // do actual create at taint time
-        Scene.TaintedObject("BSCharacter.create", delegate()
+        PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create", _localID);
-            BulletSimAPI.CreateObject(Scene.WorldID, shapeData);
+            BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
 
             // Set the buoyancy for flying. This will be refactored when all the settings happen in C#
-            BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
+            BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
 
-            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID));
+            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID));
         });
             
         return;
@@ -140,9 +133,9 @@ public class BSCharacter : BSPhysObject
     public override void Destroy()
     {
         DetailLog("{0},BSCharacter.Destroy", LocalID);
-        Scene.TaintedObject("BSCharacter.destroy", delegate()
+        PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            BulletSimAPI.DestroyObject(Scene.WorldID, _localID);
+            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, _localID);
         });
     }
 
@@ -154,11 +147,11 @@ public class BSCharacter : BSPhysObject
     public override bool Stopped { 
         get { return false; } 
     }
-    public override Vector3 Size {
+    public override OMV.Vector3 Size {
         get
         {
             // Avatar capsule size is kept in the scale parameter.
-            return new Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
+            return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
         }
 
         set { 
@@ -171,9 +164,9 @@ public class BSCharacter : BSPhysObject
 
             ComputeAvatarVolumeAndMass();
 
-            Scene.TaintedObject("BSCharacter.setSize", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                BulletSimAPI.SetObjectScaleMass(Scene.WorldID, LocalID, _scale, _mass, true);
+                BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true);
             });
 
         } 
@@ -198,9 +191,27 @@ public class BSCharacter : BSPhysObject
     public override void CrossingFailure() { return; }
     public override void link(PhysicsActor obj) { return; }
     public override void delink() { return; }
-    public override void LockAngularMotion(Vector3 axis) { return; }
 
-    public override Vector3 Position { 
+    // Set motion values to zero.
+    // Do it to the properties so the values get set in the physics engine.
+    // Push the setting of the values to the viewer.
+    // Called at taint time!
+    public override void ZeroMotion()
+    {
+        _velocity = OMV.Vector3.Zero;
+        _acceleration = OMV.Vector3.Zero;
+        _rotationalVelocity = OMV.Vector3.Zero;
+
+        // Zero some other properties directly into the physics engine
+        BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
+        BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
+        BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
+        BulletSimAPI.ClearForces2(BSBody.Ptr);
+    }
+
+    public override void LockAngularMotion(OMV.Vector3 axis) { return; }
+
+    public override OMV.Vector3 Position { 
         get {
             // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
             return _position; 
@@ -209,10 +220,10 @@ public class BSCharacter : BSPhysObject
             _position = value;
             PositionSanityCheck();
 
-            Scene.TaintedObject("BSCharacter.setPosition", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation);
             });
         } 
     }
@@ -225,7 +236,7 @@ public class BSCharacter : BSPhysObject
         bool ret = false;
         
         // If below the ground, move the avatar up
-        float terrainHeight = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
         if (Position.Z < terrainHeight)
         {
             DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
@@ -247,10 +258,10 @@ public class BSCharacter : BSPhysObject
         {
             // The new position value must be pushed into the physics engine but we can't
             //    just assign to "Position" because of potential call loops.
-            Scene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation);
             });
             ret = true;
         }
@@ -266,15 +277,15 @@ public class BSCharacter : BSPhysObject
     // used when we only want this prim's mass and not the linkset thing
     public override float MassRaw { get {return _mass; } }
 
-    public override Vector3 Force { 
+    public override OMV.Vector3 Force { 
         get { return _force; } 
         set {
             _force = value;
             // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
-            Scene.TaintedObject("BSCharacter.SetForce", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force);
+                BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force);
             });
         } 
     }
@@ -284,28 +295,28 @@ public class BSCharacter : BSPhysObject
         set { return; } 
     }
     public override void VehicleFloatParam(int param, float value) { }
-    public override void VehicleVectorParam(int param, Vector3 value) {}
-    public override void VehicleRotationParam(int param, Quaternion rotation) { }
+    public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
+    public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
     public override void VehicleFlags(int param, bool remove) { }
 
     // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
     public override void SetVolumeDetect(int param) { return; }
 
-    public override Vector3 GeometricCenter { get { return Vector3.Zero; } }
-    public override Vector3 CenterOfMass { get { return Vector3.Zero; } }
-    public override Vector3 Velocity { 
+    public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
+    public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
+    public override OMV.Vector3 Velocity { 
         get { return _velocity; } 
         set {
             _velocity = value;
             // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
-            Scene.TaintedObject("BSCharacter.setVelocity", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetObjectVelocity(Scene.WorldID, _localID, _velocity);
+                BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, _localID, _velocity);
             });
         } 
     }
-    public override Vector3 Torque { 
+    public override OMV.Vector3 Torque { 
         get { return _torque; } 
         set { _torque = value; 
         } 
@@ -315,19 +326,19 @@ public class BSCharacter : BSPhysObject
         set { _collisionScore = value; 
         } 
     }
-    public override Vector3 Acceleration { 
+    public override OMV.Vector3 Acceleration { 
         get { return _acceleration; }
         set { _acceleration = value; }
     }
-    public override Quaternion Orientation { 
+    public override OMV.Quaternion Orientation { 
         get { return _orientation; } 
         set {
             _orientation = value;
             // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
-            Scene.TaintedObject("BSCharacter.setOrientation", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
             {
                 // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
-                BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation);
             });
         } 
     }
@@ -364,11 +375,11 @@ public class BSCharacter : BSPhysObject
         set { _throttleUpdates = value; } 
     }
     public override bool IsColliding {
-        get { return (_collidingStep == Scene.SimulationStep); } 
+        get { return (_collidingStep == PhysicsScene.SimulationStep); } 
         set { _isColliding = value; } 
     }
     public override bool CollidingGround {
-        get { return (_collidingGroundStep == Scene.SimulationStep); } 
+        get { return (_collidingGroundStep == PhysicsScene.SimulationStep); } 
         set { _collidingGround = value; } 
     }
     public override bool CollidingObj { 
@@ -378,7 +389,7 @@ public class BSCharacter : BSPhysObject
     public override bool FloatOnWater { 
         set { _floatOnWater = value; } 
     }
-    public override Vector3 RotationalVelocity { 
+    public override OMV.Vector3 RotationalVelocity { 
         get { return _rotationalVelocity; } 
         set { _rotationalVelocity = value; } 
     }
@@ -390,16 +401,16 @@ public class BSCharacter : BSPhysObject
     public override float Buoyancy { 
         get { return _buoyancy; } 
         set { _buoyancy = value; 
-            Scene.TaintedObject("BSCharacter.setBuoyancy", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
             {
                 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
+                BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
             });
         } 
     }
 
     // Used for MoveTo
-    public override Vector3 PIDTarget { 
+    public override OMV.Vector3 PIDTarget { 
         set { _PIDTarget = value; } 
     }
     public override bool PIDActive { 
@@ -425,19 +436,19 @@ public class BSCharacter : BSPhysObject
     }
 
     // For RotLookAt
-    public override Quaternion APIDTarget { set { return; } }
+    public override OMV.Quaternion APIDTarget { set { return; } }
     public override bool APIDActive { set { return; } }
     public override float APIDStrength { set { return; } }
     public override float APIDDamping { set { return; } }
 
-    public override void AddForce(Vector3 force, bool pushforce) { 
+    public override void AddForce(OMV.Vector3 force, bool pushforce) { 
         if (force.IsFinite())
         {
             _force.X += force.X;
             _force.Y += force.Y;
             _force.Z += force.Z;
             // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
-            Scene.TaintedObject("BSCharacter.AddForce", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
                 BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
@@ -450,42 +461,9 @@ public class BSCharacter : BSPhysObject
         //m_lastUpdateSent = false;
     }
 
-    public override void AddAngularForce(Vector3 force, bool pushforce) { 
+    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 
     }
-    public override void SetMomentum(Vector3 momentum) { 
-    }
-
-    // Turn on collision events at a rate no faster than one every the given milliseconds
-    public override void SubscribeEvents(int ms) {
-        _subscribedEventsMs = ms;
-        if (ms > 0)
-        {
-            // make sure first collision happens
-            _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
-
-            Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate()
-            {
-                BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-            });
-        }
-    }
-
-    public override void ZeroMotion()
-    {
-        return;
-    }
-
-    // Stop collision events
-    public override void UnSubscribeEvents() { 
-        _subscribedEventsMs = 0;
-        Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate()
-        {
-            BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-        });
-    }
-    // Return 'true' if someone has subscribed to events
-    public override bool SubscribedEvents() {
-        return (_subscribedEventsMs > 0);
+    public override void SetMomentum(OMV.Vector3 momentum) { 
     }
 
     // set _avatarVolume and _mass based on capsule size, _density and _scale
@@ -520,67 +498,15 @@ public class BSCharacter : BSPhysObject
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
         PositionSanityCheck2();
 
-        float heightHere = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position);   // only for debug
+        float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);   // only for debug
         DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
                 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere);
     }
 
-    // Called by the scene when a collision with this object is reported
-    // The collision, if it should be reported to the character, is placed in a collection
-    //   that will later be sent to the simulator when SendCollisions() is called.
-    CollisionEventUpdate collisionCollection = null;
-    public override bool Collide(uint collidingWith, BSPhysObject collidee, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
-    {
-        bool ret = false;
-
-        // The following makes IsColliding() and IsCollidingGround() work
-        _collidingStep = Scene.SimulationStep;
-        if (collidingWith <= Scene.TerrainManager.HighestTerrainID)
-        {
-            _collidingGroundStep = Scene.SimulationStep;
-        }
-        // DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith);
-
-        // throttle collisions to the rate specified in the subscription
-        if (SubscribedEvents()) {
-            int nowTime = Scene.SimulationNowTime;
-            if (nowTime >= _nextCollisionOkTime) {
-                _nextCollisionOkTime = nowTime + _subscribedEventsMs;
-
-                if (collisionCollection == null)
-                    collisionCollection = new CollisionEventUpdate();
-                collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-                ret = true;
-            }
-        }
-        return ret;
-    }
-
-    public override void SendCollisions()
-    {
-        /*
-        if (collisionCollection != null && collisionCollection.Count > 0)
-        {
-            base.SendCollisionUpdate(collisionCollection);
-            collisionCollection = null;
-        }
-         */
-        // Kludge to make a collision call even if there are no collisions.
-        // This causes the avatar animation to get updated.
-        if (collisionCollection == null)
-            collisionCollection = new CollisionEventUpdate();
-        base.SendCollisionUpdate(collisionCollection);
-        // If there were any collisions in the collection, make sure we don't use the
-        //    same instance next time.
-        if (collisionCollection.Count > 0)
-            collisionCollection = null;
-        // End kludge
-    }
-
     // Invoke the detailed logger and output something if it's enabled.
     private void DetailLog(string msg, params Object[] args)
     {
-        Scene.PhysicsLogging.Write(msg, args);
+        PhysicsScene.PhysicsLogging.Write(msg, args);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 61006f07d6..2da2331127 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -539,7 +539,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // add Gravity and Buoyancy
             // There is some gravity, make a gravity force vector that is applied after object velocity.
             // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
-            Vector3 grav = m_prim.Scene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy));
+            Vector3 grav = m_prim.PhysicsScene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy));
 
             /*
              * RA: Not sure why one would do this
@@ -552,7 +552,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 //            Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
 
             // If below the terrain, move us above the ground a little.
-            float terrainHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos);
+            float terrainHeight = m_prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
             // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
             //     Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
             // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation;
@@ -570,7 +570,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // We should hover, get the target height
                 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
                 {
-                    m_VhoverTargetHeight = m_prim.Scene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
+                    m_VhoverTargetHeight = m_prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
                 }
                 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
                 {
@@ -849,8 +849,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         // Invoke the detailed logger and output something if it's enabled.
         private void VDetailLog(string msg, params Object[] args)
         {
-            if (m_prim.Scene.VehicleLoggingEnabled)
-                m_prim.Scene.PhysicsLogging.Write(msg, args);
+            if (m_prim.PhysicsScene.VehicleLoggingEnabled)
+                m_prim.PhysicsScene.PhysicsLogging.Write(msg, args);
         }
     }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 7e784ebb83..005a758b0a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -36,11 +36,9 @@ public class BSLinkset
 {
     private static string LogHeader = "[BULLETSIM LINKSET]";
 
-    private BSPhysObject m_linksetRoot;
-    public BSPhysObject LinksetRoot { get { return m_linksetRoot; } }
+    public BSPhysObject LinksetRoot { get; protected set; }
 
-    private BSScene m_physicsScene;
-    public BSScene PhysicsScene { get { return m_physicsScene; } }
+    public BSScene PhysicsScene { get; private set; }
 
     static int m_nextLinksetID = 1;
     public int LinksetID { get; private set; }
@@ -81,8 +79,8 @@ public class BSLinkset
         // We create LOTS of linksets.
         if (m_nextLinksetID < 0) 
             m_nextLinksetID = 1;
-        m_physicsScene = scene;
-        m_linksetRoot = parent;
+        PhysicsScene = scene;
+        LinksetRoot = parent;
         m_children = new List<BSPhysObject>();
         m_mass = parent.MassRaw;
     }
@@ -131,7 +129,7 @@ public class BSLinkset
     // Return 'true' if the passed object is the root object of this linkset
     public bool IsRoot(BSPhysObject requestor)
     {
-        return (requestor.LocalID == m_linksetRoot.LocalID);
+        return (requestor.LocalID == LinksetRoot.LocalID);
     }
 
     public int NumberOfChildren { get { return m_children.Count; } }
@@ -159,7 +157,7 @@ public class BSLinkset
 
     private float ComputeLinksetMass()
     {
-        float mass = m_linksetRoot.MassRaw;
+        float mass = LinksetRoot.MassRaw;
         foreach (BSPhysObject bp in m_children)
         {
             mass += bp.MassRaw;
@@ -169,8 +167,8 @@ public class BSLinkset
 
     private OMV.Vector3 ComputeLinksetCenterOfMass()
     {
-        OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw;
-        float totalMass = m_linksetRoot.MassRaw;
+        OMV.Vector3 com = LinksetRoot.Position * LinksetRoot.MassRaw;
+        float totalMass = LinksetRoot.MassRaw;
 
         lock (m_linksetActivityLock)
         {
@@ -188,7 +186,7 @@ public class BSLinkset
 
     private OMV.Vector3 ComputeLinksetGeometricCenter()
     {
-        OMV.Vector3 com = m_linksetRoot.Position;
+        OMV.Vector3 com = LinksetRoot.Position;
 
         lock (m_linksetActivityLock)
         {
@@ -256,7 +254,7 @@ public class BSLinkset
             foreach (BSPhysObject child in m_children)
             {
                 BSConstraint constrain;
-                if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
+                if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
                 {
                     // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", 
                     //         LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
@@ -306,9 +304,9 @@ public class BSLinkset
 
             BSPhysObject rootx = LinksetRoot; // capture the root as of now
             BSPhysObject childx = child;
-            m_physicsScene.TaintedObject("AddChildToLinkset", delegate()
+            PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
             {
-                DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
+                DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
                 PhysicallyLinkAChildToRoot(rootx, childx);     // build the physical binding between me and the child
             });
         }
@@ -322,7 +320,7 @@ public class BSLinkset
     //    has to be updated also (like pointer to prim's parent).
     private void RemoveChildFromOtherLinkset(BSPhysObject pchild)
     {
-        pchild.Linkset = new BSLinkset(m_physicsScene, pchild);
+        pchild.Linkset = new BSLinkset(PhysicsScene, pchild);
         RemoveChildFromLinkset(pchild);
     }
 
@@ -334,9 +332,9 @@ public class BSLinkset
         {
             BSPhysObject rootx = LinksetRoot; // capture the root as of now
             BSPhysObject childx = child;
-            m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
+            PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
             {
-                DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
+                DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
 
                 PhysicallyUnlinkAChildFromRoot(rootx, childx);
                 RecomputeLinksetConstraintVariables();
@@ -370,7 +368,7 @@ public class BSLinkset
         DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", 
             rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint);
         BS6DofConstraint constrain = new BS6DofConstraint(
-                        m_physicsScene.World, rootPrim.BSBody, childPrim.BSBody,
+                        PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody,
                         midPoint,
                         true,
                         true
@@ -408,7 +406,7 @@ public class BSLinkset
         // ==================================================================================
         */
 
-        m_physicsScene.Constraints.AddConstraint(constrain);
+        PhysicsScene.Constraints.AddConstraint(constrain);
 
         // zero linear and angular limits makes the objects unable to move in relation to each other
         constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
@@ -435,7 +433,7 @@ public class BSLinkset
         DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
 
         // Find the constraint for this link and get rid of it from the overall collection and from my list
-        m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody);
+        PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody);
 
         // Make the child refresh its location
         BulletSimAPI.PushUpdate2(childPrim.BSBody.Ptr);
@@ -447,13 +445,13 @@ public class BSLinkset
     {
         DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
 
-        m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
+        PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
     }
 
     // Invoke the detailed logger and output something if it's enabled.
     private void DetailLog(string msg, params Object[] args)
     {
-        m_physicsScene.PhysicsLogging.Write(msg, args);
+        PhysicsScene.PhysicsLogging.Write(msg, args);
     }
 
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 3fe71e1003..242aa80024 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -39,26 +39,150 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 // unless the difference is significant.
 public abstract class BSPhysObject : PhysicsActor
 {
-    public abstract BSLinkset Linkset { get; set; }
+    protected void BaseInitialize(BSScene parentScene)
+    {
+        PhysicsScene = parentScene;
+        Linkset = new BSLinkset(PhysicsScene, this);
 
-    public abstract bool Collide(uint collidingWith, BSPhysObject collidee,
-            OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
-    public abstract void SendCollisions();
+        CollisionCollection = new CollisionEventUpdate();
+        SubscribedEventsMs = 0;
+        CollidingStep = 0;
+        CollidingGroundStep = 0;
+    }
 
-    // Return the object mass without calculating it or side effects
+    public BSScene PhysicsScene { get; protected set; }
+
+    public BSLinkset Linkset { get; set; }
+
+    // Return the object mass without calculating it or having side effects
     public abstract float MassRaw { get; }
 
     // Reference to the physical body (btCollisionObject) of this object
-    public abstract BulletBody BSBody { get; set; }
+    public BulletBody BSBody { get; protected set; }
     // Reference to the physical shape (btCollisionShape) of this object
-    public abstract BulletShape BSShape { get; set; }
+    public BulletShape BSShape { get; protected set; }
 
+    // Stop all physical motion.
     public abstract void ZeroMotion();
 
+    // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
     public virtual void StepVehicle(float timeStep) { }
 
+    // Update the physical location and motion of the object. Called with data from Bullet.
     public abstract void UpdateProperties(EntityProperties entprop);
 
+    // Tell the object to clean up.
     public abstract void Destroy();
+
+    #region Collisions
+
+    // Requested number of milliseconds between collision events. Zero means disabled.
+    protected int SubscribedEventsMs { get; set; }
+    // Given subscription, the time that a collision may be passed up
+    protected int NextCollisionOkTime { get; set; }
+    // The simulation step that last had a collision
+    protected long CollidingStep { get; set; }
+    // The simulation step that last had a collision with the ground
+    protected long CollidingGroundStep { get; set; }
+    // The collision flags we think are set in Bullet
+    protected CollisionFlags CurrentCollisionFlags { get; set; }
+
+    // The collisions that have been collected this tick
+    protected CollisionEventUpdate CollisionCollection;
+
+    // The simulation step is telling this object about a collision.
+    // Return 'true' if a collision was processed and should be sent up.
+    // Called at taint time from within the Step() function
+    public virtual bool Collide(uint collidingWith, BSPhysObject collidee, 
+                    OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    {
+        bool ret = false;
+
+        // The following lines make IsColliding() and IsCollidingGround() work
+        CollidingStep = PhysicsScene.SimulationStep;
+        if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
+        {
+            CollidingGroundStep = PhysicsScene.SimulationStep;
+        }
+
+        // prims in the same linkset cannot collide with each other
+        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
+        {
+            return ret;
+        }
+
+        PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison,call,with={1}", LocalID, collidingWith);
+
+        // if someone has subscribed for collision events....
+        if (SubscribedEvents()) {
+            CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+            PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison.AddCollider,call,with={1},point={2},normal={3},depth={4},next={5}", 
+                    LocalID, collidingWith, contactPoint, contactNormal, pentrationDepth, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff"));
+            ret = true;
+        }
+        return ret;
+    }
+
+    // Routine to send the collected collisions into the simulator.
+    // Also handles removal of this from the collection of objects with collisions if
+    //      there are no collisions from this object. Mechanism is create one last
+    //      collision event to make collision_end work.
+    public virtual void SendCollisions()
+    {
+        // throttle the collisions to the number of milliseconds specified in the subscription
+        int nowTime = PhysicsScene.SimulationNowTime;
+        if (nowTime >= NextCollisionOkTime)
+        {
+            NextCollisionOkTime = nowTime + SubscribedEventsMs;
+
+            // We are called if we previously had collisions. If there are no collisions
+            //   this time, send up one last empty event so OpenSim can sense collision end.
+            if (CollisionCollection.Count == 0)
+                PhysicsScene.ObjectsWithNoMoreCollisions.Add(this);
+
+            base.SendCollisionUpdate(CollisionCollection);
+
+            // The collisionCollection structure is passed around in the simulator.
+            // Make sure we don't have a handle to that one and that a new one is used next time.
+            CollisionCollection = new CollisionEventUpdate();
+        }
+    }
+
+    // Subscribe for collision events.
+    // Parameter is the millisecond rate the caller wishes collision events to occur.
+    public override void SubscribeEvents(int ms) { 
+        SubscribedEventsMs = ms;
+        if (ms > 0)
+        {
+            // make sure first collision happens
+            NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
+            PhysicsScene.PhysicsLogging.Write("{0},SubscribeEvents,call,ms={1},nextOKTime={2}", 
+                    LocalID, SubscribedEventsMs, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff"));
+
+            PhysicsScene.TaintedObject("BSPhysObject.SubscribeEvents", delegate()
+            {
+                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            });
+        }
+        else
+        {
+            // Subscribing for zero or less is the same as unsubscribing
+            UnSubscribeEvents();
+        }
+    }
+    public override void UnSubscribeEvents() { 
+        SubscribedEventsMs = 0;
+        PhysicsScene.PhysicsLogging.Write("{0},UnSubscribeEvents,call", LocalID);
+        PhysicsScene.TaintedObject("BSPhysObject.UnSubscribeEvents", delegate()
+        {
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        });
+    }
+    // Return 'true' if the simulator wants collision events
+    public override bool SubscribedEvents() { 
+        return (SubscribedEventsMs > 0);
+    }
+
+    #endregion // Collisions
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 26a581fc77..29f27e8192 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -49,8 +49,6 @@ public sealed class BSPrim : BSPhysObject
     private ulong _hullKey;
     private List<ConvexResult> _hulls;
 
-    private BSScene _scene;
-    public BSScene Scene { get { return _scene; } }
     private String _avName;
     private uint _localID = 0;
 
@@ -87,18 +85,6 @@ public sealed class BSPrim : BSPhysObject
     private bool _kinematic;
     private float _buoyancy;
 
-    // Membership in a linkset is controlled by this class.
-    public override BSLinkset Linkset { get; set; }
-
-    private int _subscribedEventsMs = 0;
-    private int _nextCollisionOkTime = 0;
-    long _collidingStep;
-    long _collidingGroundStep;
-    CollisionFlags m_currentCollisionFlags = 0;
-
-    public override BulletBody BSBody { get; set; }
-    public override BulletShape BSShape { get; set; }
-
     private BSDynamics _vehicle;
 
     private OMV.Vector3 _PIDTarget;
@@ -113,10 +99,10 @@ public sealed class BSPrim : BSPhysObject
                        OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
     {
         // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
+        base.BaseInitialize(parent_scene);
         _localID = localID;
         _avName = primName;
         _physicsActorType = (int)ActorTypes.Prim;
-        _scene = parent_scene;
         _position = pos;
         _size = size;
         _scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
@@ -129,25 +115,23 @@ public sealed class BSPrim : BSPhysObject
         _pbs = pbs;
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
-        _subscribedEventsMs = 0;
-        _friction = _scene.Params.defaultFriction;  // TODO: compute based on object material
-        _density = _scene.Params.defaultDensity;    // TODO: compute based on object material
-        _restitution = _scene.Params.defaultRestitution;
-        Linkset = new BSLinkset(Scene, this);     // a linkset of one
-        _vehicle = new BSDynamics(Scene, this);            // add vehicleness
+        _friction = PhysicsScene.Params.defaultFriction;  // TODO: compute based on object material
+        _density = PhysicsScene.Params.defaultDensity;    // TODO: compute based on object material
+        _restitution = PhysicsScene.Params.defaultRestitution;
+        _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
         _mass = CalculateMass();
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
-        _scene.TaintedObject("BSPrim.create", delegate()
+        PhysicsScene.TaintedObject("BSPrim.create", delegate()
         {
             CreateGeomAndObject(true);
 
             // Get the pointer to the physical body for this object.
             // At the moment, we're still letting BulletSim manage the creation and destruction
             //    of the object. Someday we'll move that into the C# code.
-            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
+            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID));
             BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
-            m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
+            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
         });
     }
 
@@ -168,11 +152,11 @@ public sealed class BSPrim : BSPhysObject
         // Undo any vehicle properties
         this.VehicleType = (int)Vehicle.TYPE_NONE;
 
-        _scene.TaintedObject("BSPrim.destroy", delegate()
+        PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
-            BulletSimAPI.DestroyObject(_scene.WorldID, LocalID);
+            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
         });
     }
     
@@ -183,7 +167,7 @@ public sealed class BSPrim : BSPhysObject
         get { return _size; } 
         set {
             _size = value;
-            _scene.TaintedObject("BSPrim.setSize", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setSize", delegate()
             {
                 _mass = CalculateMass();   // changing size changes the mass
                 // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
@@ -196,7 +180,7 @@ public sealed class BSPrim : BSPhysObject
     public override PrimitiveBaseShape Shape { 
         set {
             _pbs = value;
-            _scene.TaintedObject("BSPrim.setShape", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setShape", delegate()
             {
                 _mass = CalculateMass();   // changing the shape changes the mass
                 CreateGeomAndObject(false);
@@ -214,7 +198,7 @@ public sealed class BSPrim : BSPhysObject
     public override bool Selected { 
         set {
             _isSelected = value;
-            _scene.TaintedObject("BSPrim.setSelected", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
             {
                 SetObjectDynamic();
             });
@@ -283,13 +267,13 @@ public sealed class BSPrim : BSPhysObject
                 _position = BulletSimAPI.GetPosition2(BSBody.Ptr);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
+            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
             return _position; 
         } 
         set {
             _position = value;
             // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
-            _scene.TaintedObject("BSPrim.setPosition", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
@@ -327,7 +311,7 @@ public sealed class BSPrim : BSPhysObject
         get { return _force; } 
         set {
             _force = value;
-            _scene.TaintedObject("BSPrim.setForce", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
             {
                 DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
                 BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
@@ -342,40 +326,40 @@ public sealed class BSPrim : BSPhysObject
         set {
             Vehicle type = (Vehicle)value;
             BSPrim vehiclePrim = this;
-            _scene.TaintedObject("setVehicleType", delegate()
+            PhysicsScene.TaintedObject("setVehicleType", delegate()
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
                 _vehicle.ProcessTypeChange(type);
                 // Tell the scene about the vehicle so it will get processing each frame.
-                _scene.VehicleInSceneTypeChanged(this, type);
+                PhysicsScene.VehicleInSceneTypeChanged(this, type);
             });
         } 
     }
     public override void VehicleFloatParam(int param, float value) 
     {
-        _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
+        PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
             _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
         });
     }
     public override void VehicleVectorParam(int param, OMV.Vector3 value) 
     {
-        _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
+        PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
             _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
         });
     }
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation) 
     {
-        _scene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
+        PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
             _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
         });
     }
     public override void VehicleFlags(int param, bool remove) 
     {
-        _scene.TaintedObject("BSPrim.VehicleFlags", delegate()
+        PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
             _vehicle.ProcessVehicleFlags(param, remove);
         });
@@ -393,8 +377,9 @@ public sealed class BSPrim : BSPhysObject
     public override void SetVolumeDetect(int param) {
         bool newValue = (param != 0);
         _isVolumeDetect = newValue;
-        _scene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
+        PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
         {
+            DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
             SetObjectDynamic();
         });
         return; 
@@ -404,7 +389,7 @@ public sealed class BSPrim : BSPhysObject
         get { return _velocity; } 
         set {
             _velocity = value;
-            _scene.TaintedObject("BSPrim.setVelocity", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
                 BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, _velocity);
@@ -438,9 +423,9 @@ public sealed class BSPrim : BSPhysObject
         set {
             _orientation = value;
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
-            _scene.TaintedObject("BSPrim.setOrientation", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
+                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
                 DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
             });
@@ -454,8 +439,9 @@ public sealed class BSPrim : BSPhysObject
         get { return _isPhysical; } 
         set {
             _isPhysical = value;
-            _scene.TaintedObject("BSPrim.setIsPhysical", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
             {
+                DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
                 SetObjectDynamic();
             });
         } 
@@ -493,9 +479,9 @@ public sealed class BSPrim : BSPhysObject
         // Bullet wants static objects to have a mass of zero
         float mass = IsStatic ? 0f : _mass;
 
-        BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
+        BulletSimAPI.SetObjectProperties(Scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
          */
-        BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr);
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -506,15 +492,15 @@ public sealed class BSPrim : BSPhysObject
         // Arrange for collisions events if the simulator wants them
         EnableCollisions(SubscribedEvents());
 
-        BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr);
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
 
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
         Linkset.Refresh(this);
 
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3}, cf={4}", 
-                        LocalID, IsStatic, IsSolid, _mass, m_currentCollisionFlags);
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3},collide={4},cf={5}", 
+                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags);
     }
 
     // "Making dynamic" means changing to and from static.
@@ -527,7 +513,7 @@ public sealed class BSPrim : BSPhysObject
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             BulletSimAPI.ClearAllForces2(BSBody.Ptr);
             // Center of mass is at the center of the object
@@ -539,16 +525,17 @@ public sealed class BSPrim : BSPhysObject
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'sleeping' so Bullet will not try to act on it
-            BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
+            // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
+            BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION);
         }
         else
         {
             // Not a Bullet static object
-            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
 
-            // Set various physical properties so internal things will get computed correctly as they are set
-            BulletSimAPI.SetFriction2(BSBody.Ptr, Scene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(BSBody.Ptr, Scene.Params.defaultRestitution);
+            // Set various physical properties so internal dynamic properties will get computed correctly as they are set
+            BulletSimAPI.SetFriction2(BSBody.Ptr, PhysicsScene.Params.defaultFriction);
+            BulletSimAPI.SetRestitution2(BSBody.Ptr, PhysicsScene.Params.defaultRestitution);
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
             BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
@@ -562,10 +549,10 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
 
             // Various values for simulation limits
-            BulletSimAPI.SetDamping2(BSBody.Ptr, Scene.Params.linearDamping, Scene.Params.angularDamping);
-            BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, Scene.Params.deactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, Scene.Params.linearSleepingThreshold, Scene.Params.angularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, Scene.Params.contactProcessingThreshold);
+            BulletSimAPI.SetDamping2(BSBody.Ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
+            BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, PhysicsScene.Params.deactivationTime);
+            BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+            BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, PhysicsScene.Params.contactProcessingThreshold);
 
             // There can be special things needed for implementing linksets
             Linkset.MakeDynamic(this);
@@ -581,11 +568,11 @@ public sealed class BSPrim : BSPhysObject
         if (makeSolid)
         {
             // Easy in Bullet -- just remove the object flag that controls collision response
-            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
         else
         {
-            m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
     }
 
@@ -594,11 +581,11 @@ public sealed class BSPrim : BSPhysObject
     {
         if (wantsCollisionEvents)
         {
-            m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
         else
         {
-            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
     }
 
@@ -618,11 +605,11 @@ public sealed class BSPrim : BSPhysObject
         set { _throttleUpdates = value; } 
     }
     public override bool IsColliding {
-        get { return (_collidingStep == _scene.SimulationStep); } 
+        get { return (CollidingStep == PhysicsScene.SimulationStep); } 
         set { _isColliding = value; } 
     }
     public override bool CollidingGround {
-        get { return (_collidingGroundStep == _scene.SimulationStep); } 
+        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } 
         set { _collidingGround = value; } 
     }
     public override bool CollidingObj { 
@@ -656,7 +643,7 @@ public sealed class BSPrim : BSPhysObject
         set {
             _rotationalVelocity = value;
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
-            _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, _rotationalVelocity);
@@ -673,13 +660,13 @@ public sealed class BSPrim : BSPhysObject
         get { return _buoyancy; } 
         set {
             _buoyancy = value;
-            _scene.TaintedObject("BSPrim.setBuoyancy", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
             {
                 DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                 // Buoyancy is faked by changing the gravity applied to the object
-                float grav = Scene.Params.gravity * (1f - _buoyancy);
+                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav));
-                // BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
+                // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, _localID, _buoyancy);
             });
         } 
     }
@@ -730,7 +717,7 @@ public sealed class BSPrim : BSPhysObject
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        _scene.TaintedObject("BSPrim.AddForce", delegate()
+        PhysicsScene.TaintedObject("BSPrim.AddForce", delegate()
         {
             OMV.Vector3 fSum = OMV.Vector3.Zero;
             lock (m_accumulatedForces)
@@ -754,30 +741,6 @@ public sealed class BSPrim : BSPhysObject
     public override void SetMomentum(OMV.Vector3 momentum) { 
         DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
     }
-    public override void SubscribeEvents(int ms) { 
-        _subscribedEventsMs = ms;
-        if (ms > 0)
-        {
-            // make sure first collision happens
-            _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
-
-            Scene.TaintedObject("BSPrim.SubscribeEvents", delegate()
-            {
-                m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-            });
-        }
-    }
-    public override void UnSubscribeEvents() { 
-        _subscribedEventsMs = 0;
-        Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate()
-        {
-            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-        });
-    }
-    public override bool SubscribedEvents() { 
-        return (_subscribedEventsMs > 0);
-    }
-
     #region Mass Calculation
 
     private float CalculateMass()
@@ -1071,8 +1034,8 @@ public sealed class BSPrim : BSPhysObject
         if (returnMass <= 0)
             returnMass = 0.0001f;
 
-        if (returnMass > _scene.MaximumObjectMass)
-            returnMass = _scene.MaximumObjectMass;
+        if (returnMass > PhysicsScene.MaximumObjectMass)
+            returnMass = PhysicsScene.MaximumObjectMass;
 
         return returnMass;
     }// end CalculateMass
@@ -1090,7 +1053,7 @@ public sealed class BSPrim : BSPhysObject
         bool haveShape = false;
 
         // If the prim attributes are simple, this could be a simple Bullet native shape
-        if ((_pbs.SculptEntry && !Scene.ShouldMeshSculptedPrim)
+        if ((_pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
                 || (_pbs.ProfileBegin == 0 && _pbs.ProfileEnd == 0
                     && _pbs.ProfileHollow == 0
                     && _pbs.PathTwist == 0 && _pbs.PathTwistBegin == 0
@@ -1156,12 +1119,12 @@ public sealed class BSPrim : BSPhysObject
     private bool CreateGeomMesh()
     {
         // level of detail based on size and type of the object
-        float lod = _scene.MeshLOD;
+        float lod = PhysicsScene.MeshLOD;
         if (_pbs.SculptEntry) 
-            lod = _scene.SculptLOD;
+            lod = PhysicsScene.SculptLOD;
         float maxAxis = Math.Max(_size.X, Math.Max(_size.Y, _size.Z));
-        if (maxAxis > _scene.MeshMegaPrimThreshold) 
-            lod = _scene.MeshMegaPrimLOD;
+        if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) 
+            lod = PhysicsScene.MeshMegaPrimLOD;
 
         ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod);
         // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey);
@@ -1175,14 +1138,14 @@ public sealed class BSPrim : BSPhysObject
         {
             // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
             DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
-            BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
+            BulletSimAPI.DestroyMesh(PhysicsScene.WorldID, _meshKey);
             _mesh = null;
             _meshKey = 0;
         }
 
         _meshKey = newMeshKey;
         // always pass false for physicalness as this creates some sort of bounding box which we don't need
-        _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, lod, false);
+        _mesh = PhysicsScene.mesher.CreateMesh(_avName, _pbs, _size, lod, false);
 
         int[] indices = _mesh.getIndexListAsInt();
         List<OMV.Vector3> vertices = _mesh.getVertexList();
@@ -1198,7 +1161,7 @@ public sealed class BSPrim : BSPhysObject
 
         // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", 
         //                  LogHeader, _localID, _meshKey, indices.Length, vertices.Count);
-        BulletSimAPI.CreateMesh(_scene.WorldID, _meshKey, indices.GetLength(0), indices, 
+        BulletSimAPI.CreateMesh(PhysicsScene.WorldID, _meshKey, indices.GetLength(0), indices, 
                                                         vertices.Count, verticesAsFloats);
 
         _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
@@ -1211,7 +1174,7 @@ public sealed class BSPrim : BSPhysObject
     // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
     private bool CreateGeomHull()
     {
-        float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
+        float lod = _pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD;
         ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
         // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey);
 
@@ -1225,7 +1188,7 @@ public sealed class BSPrim : BSPhysObject
         {
             // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
             DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
-            BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
+            BulletSimAPI.DestroyHull(PhysicsScene.WorldID, _hullKey);
             _hullKey = 0;
         }
 
@@ -1314,7 +1277,7 @@ public sealed class BSPrim : BSPhysObject
 
         // create the hull definition in Bullet
         // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
-        BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls);
+        BulletSimAPI.CreateHull(PhysicsScene.WorldID, _hullKey, hullCount, convHulls);
         _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
         // meshes are already scaled by the meshmerizer
         _scale = new OMV.Vector3(1f, 1f, 1f);
@@ -1354,10 +1317,10 @@ public sealed class BSPrim : BSPhysObject
         ShapeData shape;
         FillShapeInfo(out shape);
         // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
-        bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
+        bool ret = BulletSimAPI.CreateObject(PhysicsScene.WorldID, shape);
 
         // the CreateObject() may have recreated the rigid body. Make sure we have the latest address.
-        BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
+        BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID));
         BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
 
         return ret;
@@ -1490,61 +1453,10 @@ public sealed class BSPrim : BSPhysObject
         }
              */
     }
-
-    // I've collided with something
-    // Called at taint time from within the Step() function
-    CollisionEventUpdate collisionCollection;
-    public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
-    {
-        bool ret = false;
-
-        // The following lines make IsColliding() and IsCollidingGround() work
-        _collidingStep = Scene.SimulationStep;
-        if (collidingWith <= Scene.TerrainManager.HighestTerrainID)
-        {
-            _collidingGroundStep = Scene.SimulationStep;
-        }
-
-        // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith);
-
-        // prims in the same linkset cannot collide with each other
-        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
-        {
-            return ret;
-        }
-
-        // if someone has subscribed for collision events....
-        if (SubscribedEvents()) {
-            // throttle the collisions to the number of milliseconds specified in the subscription
-            int nowTime = Scene.SimulationNowTime;
-            if (nowTime >= _nextCollisionOkTime) {
-                _nextCollisionOkTime = nowTime + _subscribedEventsMs;
-
-                if (collisionCollection == null)
-                    collisionCollection = new CollisionEventUpdate();
-                collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-                ret = true;
-            }
-        }
-        return ret;
-    }
-
-    // The scene is telling us it's time to pass our collected collisions into the simulator
-    public override void SendCollisions()
-    {
-        if (collisionCollection != null && collisionCollection.Count > 0)
-        {
-            base.SendCollisionUpdate(collisionCollection);
-            // The collisionCollection structure is passed around in the simulator.
-            // Make sure we don't have a handle to that one and that a new one is used next time.
-            collisionCollection = null;
-        }
-    }
-
     // Invoke the detailed logger and output something if it's enabled.
     private void DetailLog(string msg, params Object[] args)
     {
-        Scene.PhysicsLogging.Write(msg, args);
+        PhysicsScene.PhysicsLogging.Write(msg, args);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 52997dd526..dabced578e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -75,10 +75,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     public Dictionary<uint, BSPhysObject> PhysObjects = new Dictionary<uint, BSPhysObject>();
 
-    private HashSet<BSPhysObject> m_objectsWithCollisions = new HashSet<BSPhysObject>();
-    // Following is a kludge and can  be removed when avatar animation updating is
-    //    moved to a better place.
-    private HashSet<BSPhysObject> m_avatarsWithCollisions = new HashSet<BSPhysObject>();
+    public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
+    public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
+    // Keep track of all the avatars so we can send them a collision event
+    //    every tick so OpenSim will update its animation.
+    private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
 
     // List of all the objects that have vehicle properties and should be called
     //    to update each physics step.
@@ -379,7 +380,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         // TODO: Remove kludge someday.
         // We must generate a collision for avatars whether they collide or not.
         // This is required by OpenSim to update avatar animations, etc.
-        lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Add(actor);
+        lock (m_avatars) m_avatars.Add(actor);
 
         return actor;
     }
@@ -397,7 +398,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             {
                 lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
                 // Remove kludge someday
-                lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Remove(bsactor);
+                lock (m_avatars) m_avatars.Remove(bsactor);
             }
             catch (Exception e)
             {
@@ -464,6 +465,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         int collidersCount = 0;
         IntPtr collidersPtr;
 
+        int beforeTime = 0;
+        int simTime = 0;
+
         // prevent simulation until we've been initialized
         if (!m_initialized) return 5.0f;
 
@@ -481,10 +485,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         int numSubSteps = 0;
         try
         {
+            if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
+
             numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
                         out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
-            DetailLog("{0},Simulate,call, nTaints= {1}, substeps={2}, updates={3}, colliders={4}", 
-                        DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); 
+
+            if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
+            DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}", 
+                        DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); 
         }
         catch (Exception e)
         {
@@ -502,12 +510,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         // Get a value for 'now' so all the collision and update routines don't have to get their own
         SimulationNowTime = Util.EnvironmentTickCount();
 
-        // This is a kludge to get avatar movement updates. 
-        //   ODE sends collisions for avatars even if there are have been no collisions. This updates
-        //   avatar animations and stuff.
-        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
-        m_objectsWithCollisions = new HashSet<BSPhysObject>(m_avatarsWithCollisions);
-
         // If there were collisions, process them by sending the event to the prim.
         // Collisions must be processed before updates.
         if (collidersCount > 0)
@@ -523,11 +525,31 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
+        // This is a kludge to get avatar movement updates. 
+        //   ODE sends collisions for avatars even if there are have been no collisions. This updates
+        //   avatar animations and stuff.
+        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
+        foreach (BSPhysObject bsp in m_avatars)
+            bsp.SendCollisions();
+
         // The above SendCollision's batch up the collisions on the objects.
         //      Now push the collisions into the simulator.
-        foreach (BSPhysObject bsp in m_objectsWithCollisions)
-            bsp.SendCollisions();
-        m_objectsWithCollisions.Clear();
+        // If the object is done colliding, it will add itself to the ObjectsWithNoMoreCollisions list.
+        if (ObjectsWithCollisions.Count > 0)
+        {
+            foreach (BSPhysObject bsp in ObjectsWithCollisions)
+                if (!m_avatars.Contains(bsp))   // don't call avatars twice
+                    bsp.SendCollisions();
+        }
+
+        // Objects that are done colliding are removed from the ObjectsWithCollisions list.
+        // This can't be done by SendCollisions because it is inside an iteration of ObjectWithCollisions.
+        if (ObjectsWithNoMoreCollisions.Count > 0)
+        {
+            foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
+                ObjectsWithCollisions.Remove(po);
+            ObjectsWithNoMoreCollisions.Clear();
+        }
 
         // If any of the objects had updated properties, tell the object it has been changed by the physics engine
         if (updatedEntityCount > 0)
@@ -555,7 +577,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
         // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS.
-        return numSubSteps * m_fixedTimeStep;
+        return numSubSteps * m_fixedTimeStep * 1000;
     }
 
     // Something has collided
@@ -583,7 +605,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
         {
             // If a collision was posted, remember to send it to the simulator
-            m_objectsWithCollisions.Add(collider);
+            ObjectsWithCollisions.Add(collider);
         }
 
         return;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 9221cdb30e..4d2d9623a7 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -249,7 +249,16 @@ public enum CollisionFlags : uint
     BS_PHYSICAL_OBJECT               = 1 << 13,
     BS_TERRAIN_OBJECT                = 1 << 14,
     BS_NONE                          = 0,
-    BS_ALL                           = 0xFFFFFFFF
+    BS_ALL                           = 0xFFFFFFFF,
+
+    // These are the collision flags switched depending on physical state.
+    // The other flags are used for other things and should not be fooled with.
+    BS_ACTIVE = CF_STATIC_OBJECT
+                | CF_KINEMATIC_OBJECT
+                | CF_NO_CONTACT_RESPONSE
+                | BS_VOLUME_DETECT_OBJECT
+                | BS_PHANTOM_OBJECT
+                | BS_PHYSICAL_OBJECT,
 };
 
 // Values for collisions groups and masks
@@ -270,52 +279,6 @@ public enum CollisionFilterGroups : uint
     SolidFilter             = 1 << 13,
 };
 
-    // For each type, we first clear and then set the collision flags
-public enum ClearCollisionFlag : uint
-{
-    Terrain = CollisionFlags.BS_ALL,
-    Phantom = CollisionFlags.BS_ALL,
-    VolumeDetect = CollisionFlags.BS_ALL,
-    PhysicalObject = CollisionFlags.BS_ALL,
-    StaticObject = CollisionFlags.BS_ALL
-}
-
-public enum SetCollisionFlag : uint
-{
-    Terrain = CollisionFlags.CF_STATIC_OBJECT
-        | CollisionFlags.BS_TERRAIN_OBJECT,
-    Phantom = CollisionFlags.CF_STATIC_OBJECT
-        | CollisionFlags.BS_PHANTOM_OBJECT
-        | CollisionFlags.CF_NO_CONTACT_RESPONSE,
-    VolumeDetect = CollisionFlags.CF_STATIC_OBJECT
-        | CollisionFlags.BS_VOLUME_DETECT_OBJECT
-        | CollisionFlags.CF_NO_CONTACT_RESPONSE,
-    PhysicalObject = CollisionFlags.BS_PHYSICAL_OBJECT,
-    StaticObject = CollisionFlags.CF_STATIC_OBJECT,
-}
-
-// Collision filters used for different types of objects
-public enum SetCollisionFilter : uint
-{
-    Terrain = CollisionFilterGroups.AllFilter,
-    Phantom = CollisionFilterGroups.GroundPlaneFilter
-        | CollisionFilterGroups.TerrainFilter,
-    VolumeDetect = CollisionFilterGroups.AllFilter,
-    PhysicalObject = CollisionFilterGroups.AllFilter,
-    StaticObject = CollisionFilterGroups.AllFilter,
-}
-
-// Collision masks used for different types of objects
-public enum SetCollisionMask : uint
-{
-    Terrain = CollisionFilterGroups.AllFilter,
-    Phantom = CollisionFilterGroups.GroundPlaneFilter
-        | CollisionFilterGroups.TerrainFilter,
-    VolumeDetect = CollisionFilterGroups.AllFilter,
-    PhysicalObject = CollisionFilterGroups.AllFilter,
-    StaticObject = CollisionFilterGroups.AllFilter
-}
-
 // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
 // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
 public enum ConstraintParams : int