diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini
index 3a40217cbe..27d4ad87db 100644
--- a/bin/OpenSimDefaults.ini
+++ b/bin/OpenSimDefaults.ini
@@ -892,7 +892,8 @@
     ; World Step size. (warning these are dangerous.  Changing these will probably cause your scene to explode dramatically)
     ; reference: fps = (0.089/ODE_STEPSIZE) * 1000;
     world_stepsize = 0.0178
-    world_internal_steps_without_collisions = 10
+	; number of iterations of constrains solver, higher should improve results up to a point, but taking more time. No real gain in more than default
+    world_solver_iterations = 10
 
     ;World Space settings. Affects memory consumption vs Collider CPU time for avatar and physical prim
     world_hashspace_size_low = -4
@@ -940,18 +941,14 @@
     ; desired velocity
     ; See http://en.wikipedia.org/wiki/PID_controller
 
-    av_pid_derivative_linux = 2200.0
-    av_pid_proportional_linux = 900.0;
-
-    av_pid_derivative_win = 2200.0
-    av_pid_proportional_win = 900.0;
+    av_pid_derivative = 2200.0
+    av_pid_proportional = 900.0;
 
     ;girth of the avatar.  Adds radius to the height also
     av_capsule_radius = 0.37
 
     ; Max force permissible to use to keep the avatar standing up straight
-    av_capsule_standup_tensor_win = 550000
-    av_capsule_standup_tensor_linux = 550000
+    av_capsule_standup_tensor = 550000
 
     ; specifies if the capsule should be tilted (=true; old compatibility mode)
     ; or straight up-and-down (=false; better and more consistent physics behavior)
@@ -1003,19 +1000,12 @@
     ; maximum number of contact points to generate per collision
     contacts_per_collision = 80
 
-    ; amount of time a geom/body will try to cross a region border before it gets disabled
-    geom_crossing_failures_before_outofbounds = 5
-
     ; start throttling the object updates if object comes in contact with 3 or more other objects
     geom_contactpoints_start_throttling = 3
 
     ; send 1 update for every x updates below when throttled
     geom_updates_before_throttled_update = 15
 
-    ; Used for llSetStatus.  How rigid the object rotation is held on the axis specified
-    body_motor_joint_maxforce_tensor_linux = 5
-    body_motor_joint_maxforce_tensor_win = 5
-
     ; Maximum mass an object can be before it is clamped
     maximum_mass_object = 10000.01