diff --git a/interface/src/avatar/AvatarManager.cpp b/interface/src/avatar/AvatarManager.cpp
old mode 100644
new mode 100755
index b9c7dc729d..5e4f02742e
--- a/interface/src/avatar/AvatarManager.cpp
+++ b/interface/src/avatar/AvatarManager.cpp
@@ -270,7 +270,6 @@ void AvatarManager::updateOtherAvatars(float deltaTime) {
         if (avatar->getSkeletonModel()->isLoaded()) {
             // remove the orb if it is there
             avatar->removeOrb();
-            avatar->updateCollisionGroup(_myAvatar->getOtherAvatarsCollisionsEnabled());
             if (avatar->needsPhysicsUpdate()) {
                 _avatarsToChangeInPhysics.insert(avatar);
             }
@@ -376,7 +375,6 @@ void AvatarManager::simulateAvatarFades(float deltaTime) {
 }
 
 AvatarSharedPointer AvatarManager::newSharedAvatar(const QUuid& sessionUUID) {
-
     auto otherAvatar = new OtherAvatar(qApp->thread());
     otherAvatar->setSessionUUID(sessionUUID);
     auto nodeList = DependencyManager::get<NodeList>();
diff --git a/interface/src/avatar/AvatarMotionState.cpp b/interface/src/avatar/AvatarMotionState.cpp
old mode 100644
new mode 100755
index 3fa59ea967..77fc81fa04
--- a/interface/src/avatar/AvatarMotionState.cpp
+++ b/interface/src/avatar/AvatarMotionState.cpp
@@ -15,7 +15,6 @@
 #include <PhysicsEngine.h>
 #include <PhysicsHelpers.h>
 
-
 AvatarMotionState::AvatarMotionState(OtherAvatarPointer avatar, const btCollisionShape* shape) : ObjectMotionState(shape), _avatar(avatar) {
     assert(_avatar);
     _type = MOTIONSTATE_TYPE_AVATAR;
@@ -172,7 +171,10 @@ QUuid AvatarMotionState::getSimulatorID() const {
 // virtual
 void AvatarMotionState::computeCollisionGroupAndMask(int32_t& group, int32_t& mask) const {
     group = _collisionGroup;
-    mask = _collisionGroup == BULLET_COLLISION_GROUP_COLLISIONLESS ? 0 : Physics::getDefaultCollisionMask(group);
+    mask = Physics::getDefaultCollisionMask(group);
+    if (!_avatar->getCollideWithOtherAvatars()) {
+        mask &= ~(BULLET_COLLISION_GROUP_MY_AVATAR | BULLET_COLLISION_GROUP_OTHER_AVATAR);
+    }
 }
 
 // virtual
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 84d6689e92..fec988b29f 100755
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -205,12 +205,12 @@ MyAvatar::MyAvatar(QThread* thread) :
             if (recordingInterface->getPlayFromCurrentLocation()) {
                 setRecordingBasis();
             }
-            _previousCollisionGroup = _characterController.computeCollisionGroup();
+            _previousCollisionMask = _characterController.computeCollisionMask();
             _characterController.setCollisionless(true);
         } else {
             clearRecordingBasis();
             useFullAvatarURL(_fullAvatarURLFromPreferences, _fullAvatarModelName);
-            if (_previousCollisionGroup != BULLET_COLLISION_GROUP_COLLISIONLESS) {
+            if (_previousCollisionMask != BULLET_COLLISION_MASK_COLLISIONLESS) {
                 _characterController.setCollisionless(false);
             }
         }
@@ -2534,7 +2534,7 @@ void MyAvatar::updateMotors() {
     float verticalMotorTimescale;
 
     if (_characterController.getState() == CharacterController::State::Hover ||
-            _characterController.computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS) {
+            _characterController.computeCollisionMask() == BULLET_COLLISION_MASK_COLLISIONLESS) {
         horizontalMotorTimescale = FLYING_MOTOR_TIMESCALE;
         verticalMotorTimescale = FLYING_MOTOR_TIMESCALE;
     } else {
@@ -2544,7 +2544,7 @@ void MyAvatar::updateMotors() {
 
     if (_motionBehaviors & AVATAR_MOTION_ACTION_MOTOR_ENABLED) {
         if (_characterController.getState() == CharacterController::State::Hover ||
-                _characterController.computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS) {
+                _characterController.computeCollisionMask() == BULLET_COLLISION_MASK_COLLISIONLESS) {
             motorRotation = getMyHead()->getHeadOrientation();
         } else {
             // non-hovering = walking: follow camera twist about vertical but not lift
@@ -2599,7 +2599,7 @@ void MyAvatar::prepareForPhysicsSimulation() {
         qDebug() << "Warning: getParentVelocity failed" << getID();
         parentVelocity = glm::vec3();
     }
-    _characterController.handleChangedCollisionGroup();
+    _characterController.handleChangedCollisionMask();
     _characterController.setParentVelocity(parentVelocity);
     _characterController.setScaleFactor(getSensorToWorldScale());
 
@@ -3279,7 +3279,7 @@ void MyAvatar::updateOrientation(float deltaTime) {
         head->setBaseRoll(ROLL(euler));
     } else {
         head->setBaseYaw(0.0f);
-        head->setBasePitch(getHead()->getBasePitch() + getDriveKey(PITCH) * _pitchSpeed * deltaTime
+        head->setBasePitch(getHead()->getBasePitch() + getDriveKey(PITCH) * _pitchSpeed * deltaTime 
             + getDriveKey(DELTA_PITCH) * _pitchSpeed / PITCH_SPEED_DEFAULT);
         head->setBaseRoll(0.0f);
     }
@@ -3325,7 +3325,7 @@ void MyAvatar::updateActionMotor(float deltaTime) {
 
     glm::vec3 direction = forward + right;
     if (state == CharacterController::State::Hover ||
-            _characterController.computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS) {
+            _characterController.computeCollisionMask() == BULLET_COLLISION_MASK_COLLISIONLESS) {
         glm::vec3 up = (getDriveKey(TRANSLATE_Y)) * IDENTITY_UP;
         direction += up;
     }
@@ -3881,7 +3881,7 @@ void MyAvatar::setCollisionsEnabled(bool enabled) {
 bool MyAvatar::getCollisionsEnabled() {
     // may return 'false' even though the collisionless option was requested
     // because the zone may disallow collisionless avatars
-    return _characterController.computeCollisionGroup() != BULLET_COLLISION_GROUP_COLLISIONLESS;
+    return _characterController.computeCollisionMask() != BULLET_COLLISION_MASK_COLLISIONLESS;
 }
 
 void MyAvatar::setOtherAvatarsCollisionsEnabled(bool enabled) {
@@ -3890,7 +3890,11 @@ void MyAvatar::setOtherAvatarsCollisionsEnabled(bool enabled) {
         QMetaObject::invokeMethod(this, "setOtherAvatarsCollisionsEnabled", Q_ARG(bool, enabled));
         return;
     }
+    bool change = _collideWithOtherAvatars != enabled;
     _collideWithOtherAvatars = enabled;
+    if (change) {
+        setCollisionWithOtherAvatarsFlags();
+    }
     emit otherAvatarsCollisionsEnabledChanged(enabled);
 }
 
@@ -3898,6 +3902,11 @@ bool MyAvatar::getOtherAvatarsCollisionsEnabled() {
     return _collideWithOtherAvatars;
 }
 
+void MyAvatar::setCollisionWithOtherAvatarsFlags() {
+    _characterController.setCollideWithOtherAvatars(_collideWithOtherAvatars);
+    _characterController.setPendingFlagsUpdateCollisionMask();
+}
+
 void MyAvatar::updateCollisionCapsuleCache() {
     glm::vec3 start, end;
     float radius;
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
old mode 100644
new mode 100755
index 20dc2ae42b..af08955ca0
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -297,6 +297,8 @@ public:
 
     void reset(bool andRecenter = false, bool andReload = true, bool andHead = true);
 
+    void setCollisionWithOtherAvatarsFlags() override;
+
     /**jsdoc
      * @function MyAvatar.resetSensorsAndBody
      */
@@ -1732,7 +1734,7 @@ private:
     SharedSoundPointer _collisionSound;
 
     MyCharacterController _characterController;
-    int32_t _previousCollisionGroup { BULLET_COLLISION_GROUP_MY_AVATAR };
+    int32_t _previousCollisionMask { BULLET_COLLISION_MASK_MY_AVATAR };
 
     AvatarWeakPointer _lookAtTargetAvatar;
     glm::vec3 _targetAvatarPosition;
diff --git a/interface/src/avatar/MyCharacterController.cpp b/interface/src/avatar/MyCharacterController.cpp
index 798dbc91ed..821b01c2c6 100755
--- a/interface/src/avatar/MyCharacterController.cpp
+++ b/interface/src/avatar/MyCharacterController.cpp
@@ -202,6 +202,29 @@ bool MyCharacterController::testRayShotgun(const glm::vec3& position, const glm:
     return result.hitFraction < 1.0f;
 }
 
+int32_t MyCharacterController::computeCollisionMask() const {
+    int32_t collisionMask = BULLET_COLLISION_MASK_MY_AVATAR; 
+    if (_collisionless && _collisionlessAllowed) {
+        collisionMask = BULLET_COLLISION_MASK_COLLISIONLESS;
+    } else if (!_collideWithOtherAvatars) {
+        collisionMask &= ~BULLET_COLLISION_GROUP_OTHER_AVATAR;
+    }
+    return collisionMask;
+}
+
+void MyCharacterController::handleChangedCollisionMask() {
+    if (_pendingFlags & PENDING_FLAG_UPDATE_COLLISION_MASK) {
+        // ATM the easiest way to update collision groups/masks is to remove/re-add the RigidBody
+        if (_dynamicsWorld) {
+            _dynamicsWorld->removeRigidBody(_rigidBody);
+            int32_t collisionMask = computeCollisionMask();
+            _dynamicsWorld->addRigidBody(_rigidBody, BULLET_COLLISION_GROUP_MY_AVATAR, collisionMask);
+        }
+        _pendingFlags &= ~PENDING_FLAG_UPDATE_COLLISION_MASK;
+        updateCurrentGravity();
+    }
+}
+
 btConvexHullShape* MyCharacterController::computeShape() const {
     // HACK: the avatar collides using convex hull with a collision margin equal to
     // the old capsule radius.  Two points define a capsule and additional points are
diff --git a/interface/src/avatar/MyCharacterController.h b/interface/src/avatar/MyCharacterController.h
old mode 100644
new mode 100755
index fd9caface2..76fe588e71
--- a/interface/src/avatar/MyCharacterController.h
+++ b/interface/src/avatar/MyCharacterController.h
@@ -42,6 +42,12 @@ public:
 
     void setDensity(btScalar density) { _density = density; }
 
+    int32_t computeCollisionMask() const override;
+    void handleChangedCollisionMask() override;
+
+    bool _collideWithOtherAvatars{ true };
+    void setCollideWithOtherAvatars(bool collideWithOtherAvatars) { _collideWithOtherAvatars = collideWithOtherAvatars; }
+
 protected:
     void initRayShotgun(const btCollisionWorld* world);
     void updateMassProperties() override;
diff --git a/interface/src/avatar/MySkeletonModel.cpp b/interface/src/avatar/MySkeletonModel.cpp
old mode 100644
new mode 100755
index 356b365f93..26d69841d0
--- a/interface/src/avatar/MySkeletonModel.cpp
+++ b/interface/src/avatar/MySkeletonModel.cpp
@@ -187,7 +187,7 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
         }
     }
 
-    bool isFlying = (myAvatar->getCharacterController()->getState() == CharacterController::State::Hover || myAvatar->getCharacterController()->computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS);
+    bool isFlying = (myAvatar->getCharacterController()->getState() == CharacterController::State::Hover || myAvatar->getCharacterController()->computeCollisionMask() == BULLET_COLLISION_MASK_COLLISIONLESS);
     if (isFlying != _prevIsFlying) {
         const float FLY_TO_IDLE_HIPS_TRANSITION_TIME = 0.5f;
         _flyIdleTimer = FLY_TO_IDLE_HIPS_TRANSITION_TIME;
@@ -198,7 +198,7 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
 
     // if hips are not under direct control, estimate the hips position.
     if (avatarHeadPose.isValid() && !(params.primaryControllerFlags[Rig::PrimaryControllerType_Hips] & (uint8_t)Rig::ControllerFlags::Enabled)) {
-        bool isFlying = (myAvatar->getCharacterController()->getState() == CharacterController::State::Hover || myAvatar->getCharacterController()->computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS);
+        bool isFlying = (myAvatar->getCharacterController()->getState() == CharacterController::State::Hover || myAvatar->getCharacterController()->computeCollisionMask() == BULLET_COLLISION_MASK_COLLISIONLESS);
 
         // timescale in seconds
         const float TRANS_HORIZ_TIMESCALE = 0.15f;
diff --git a/interface/src/avatar/OtherAvatar.cpp b/interface/src/avatar/OtherAvatar.cpp
old mode 100644
new mode 100755
index 1f4fdc5e52..754d914135
--- a/interface/src/avatar/OtherAvatar.cpp
+++ b/interface/src/avatar/OtherAvatar.cpp
@@ -135,17 +135,9 @@ void OtherAvatar::rebuildCollisionShape() {
     }
 }
 
-void OtherAvatar::updateCollisionGroup(bool myAvatarCollide) {
+void OtherAvatar::setCollisionWithOtherAvatarsFlags() {
     if (_motionState) {
-        bool collides = _motionState->getCollisionGroup() == BULLET_COLLISION_GROUP_OTHER_AVATAR && myAvatarCollide;
-        if (_collideWithOtherAvatars != collides) {
-            if (!myAvatarCollide) {
-                _collideWithOtherAvatars = false;
-            }
-            auto newCollisionGroup = _collideWithOtherAvatars ? BULLET_COLLISION_GROUP_OTHER_AVATAR : BULLET_COLLISION_GROUP_COLLISIONLESS;
-            _motionState->setCollisionGroup(newCollisionGroup);
-            _motionState->addDirtyFlags(Simulation::DIRTY_COLLISION_GROUP);
-        }
+        _motionState->addDirtyFlags(Simulation::DIRTY_COLLISION_GROUP);
     }
 }
 
diff --git a/interface/src/avatar/OtherAvatar.h b/interface/src/avatar/OtherAvatar.h
old mode 100644
new mode 100755
index a1dc5724a9..969f551783
--- a/interface/src/avatar/OtherAvatar.h
+++ b/interface/src/avatar/OtherAvatar.h
@@ -46,7 +46,9 @@ public:
     bool shouldBeInPhysicsSimulation() const;
     bool needsPhysicsUpdate() const;
 
-    void updateCollisionGroup(bool myAvatarCollide);
+    bool getCollideWithOtherAvatars() const { return _collideWithOtherAvatars; } 
+
+    void setCollisionWithOtherAvatarsFlags() override;
 
     void simulate(float deltaTime, bool inView) override;
 
diff --git a/libraries/avatars/src/AvatarData.cpp b/libraries/avatars/src/AvatarData.cpp
old mode 100644
new mode 100755
index 098caddde8..17dad715f9
--- a/libraries/avatars/src/AvatarData.cpp
+++ b/libraries/avatars/src/AvatarData.cpp
@@ -1172,6 +1172,9 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
 
         sourceBuffer += sizeof(AvatarDataPacket::AdditionalFlags);
 
+        if (collideWithOtherAvatarsChanged) {
+            setCollisionWithOtherAvatarsFlags();
+        }
         if (somethingChanged) {
             _additionalFlagsChanged = now;
         }
diff --git a/libraries/avatars/src/AvatarData.h b/libraries/avatars/src/AvatarData.h
old mode 100644
new mode 100755
index 2889e5ffa3..9128c2dbf9
--- a/libraries/avatars/src/AvatarData.h
+++ b/libraries/avatars/src/AvatarData.h
@@ -496,6 +496,8 @@ public:
     /// \return number of bytes parsed
     virtual int parseDataFromBuffer(const QByteArray& buffer);
 
+    virtual void setCollisionWithOtherAvatarsFlags() {};
+
     // Body Rotation (degrees)
     float getBodyYaw() const;
     void setBodyYaw(float bodyYaw);
diff --git a/libraries/physics/src/CharacterController.cpp b/libraries/physics/src/CharacterController.cpp
index 8fd6d4eada..d5ded6f909 100755
--- a/libraries/physics/src/CharacterController.cpp
+++ b/libraries/physics/src/CharacterController.cpp
@@ -109,7 +109,8 @@ void CharacterController::setDynamicsWorld(btDynamicsWorld* world) {
             }
             _dynamicsWorld = nullptr;
         }
-        int32_t collisionGroup = computeCollisionGroup();
+        int32_t collisionMask = computeCollisionMask();
+        int32_t collisionGroup = BULLET_COLLISION_GROUP_MY_AVATAR; 
         if (_rigidBody) {
             updateMassProperties();
         }
@@ -117,7 +118,7 @@ void CharacterController::setDynamicsWorld(btDynamicsWorld* world) {
             // add to new world
             _dynamicsWorld = world;
             _pendingFlags &= ~PENDING_FLAG_JUMP;
-            _dynamicsWorld->addRigidBody(_rigidBody, collisionGroup, BULLET_COLLISION_MASK_MY_AVATAR);
+            _dynamicsWorld->addRigidBody(_rigidBody, collisionGroup, collisionMask); 
             _dynamicsWorld->addAction(this);
             // restore gravity settings because adding an object to the world overwrites its gravity setting
             _rigidBody->setGravity(_currentGravity * _currentUp);
@@ -127,7 +128,7 @@ void CharacterController::setDynamicsWorld(btDynamicsWorld* world) {
             assert(shape && shape->getShapeType() == CONVEX_HULL_SHAPE_PROXYTYPE);
             _ghost.setCharacterShape(static_cast<btConvexHullShape*>(shape));
         }
-        _ghost.setCollisionGroupAndMask(collisionGroup, BULLET_COLLISION_MASK_MY_AVATAR & (~ collisionGroup));
+        _ghost.setCollisionGroupAndMask(collisionGroup, collisionMask & (~ collisionGroup)); 
         _ghost.setCollisionWorld(_dynamicsWorld);
         _ghost.setRadiusAndHalfHeight(_radius, _halfHeight);
         if (_rigidBody) {
@@ -384,8 +385,8 @@ static const char* stateToStr(CharacterController::State state) {
 #endif // #ifdef DEBUG_STATE_CHANGE
 
 void CharacterController::updateCurrentGravity() {
-    int32_t collisionGroup = computeCollisionGroup();
-    if (_state == State::Hover || collisionGroup == BULLET_COLLISION_GROUP_COLLISIONLESS) {
+    int32_t collisionMask = computeCollisionMask();
+    if (_state == State::Hover || collisionMask == BULLET_COLLISION_MASK_COLLISIONLESS) {
         _currentGravity = 0.0f;
     } else {
         _currentGravity = _gravity;
@@ -458,28 +459,7 @@ void CharacterController::setLocalBoundingBox(const glm::vec3& minCorner, const
 void CharacterController::setCollisionless(bool collisionless) {
     if (collisionless != _collisionless) {
         _collisionless = collisionless;
-        _pendingFlags |= PENDING_FLAG_UPDATE_COLLISION_GROUP;
-    }
-}
-
-int32_t CharacterController::computeCollisionGroup() const {
-    if (_collisionless) {
-        return _collisionlessAllowed ? BULLET_COLLISION_GROUP_COLLISIONLESS : BULLET_COLLISION_GROUP_MY_AVATAR;
-    } else {
-        return BULLET_COLLISION_GROUP_MY_AVATAR;
-    }
-}
-
-void CharacterController::handleChangedCollisionGroup() {
-    if (_pendingFlags & PENDING_FLAG_UPDATE_COLLISION_GROUP) {
-        // ATM the easiest way to update collision groups is to remove/re-add the RigidBody
-        if (_dynamicsWorld) {
-            _dynamicsWorld->removeRigidBody(_rigidBody);
-            int32_t collisionGroup = computeCollisionGroup();
-            _dynamicsWorld->addRigidBody(_rigidBody, collisionGroup, BULLET_COLLISION_MASK_MY_AVATAR);
-        }
-        _pendingFlags &= ~PENDING_FLAG_UPDATE_COLLISION_GROUP;
-        updateCurrentGravity();
+        _pendingFlags |= PENDING_FLAG_UPDATE_COLLISION_MASK;
     }
 }
 
@@ -567,8 +547,8 @@ void CharacterController::applyMotor(int index, btScalar dt, btVector3& worldVel
     btScalar angle = motor.rotation.getAngle();
     btVector3 velocity = worldVelocity.rotate(axis, -angle);
 
-    int32_t collisionGroup = computeCollisionGroup();
-    if (collisionGroup == BULLET_COLLISION_GROUP_COLLISIONLESS ||
+    int32_t collisionMask = computeCollisionMask();
+    if (collisionMask == BULLET_COLLISION_MASK_COLLISIONLESS ||
             _state == State::Hover || motor.hTimescale == motor.vTimescale) {
         // modify velocity
         btScalar tau = dt / motor.hTimescale;
@@ -708,11 +688,11 @@ void CharacterController::updateState() {
     btVector3 rayStart = _position;
 
     btScalar rayLength = _radius;
-    int32_t collisionGroup = computeCollisionGroup();
-    if (collisionGroup == BULLET_COLLISION_GROUP_MY_AVATAR) {
-        rayLength += _scaleFactor * DEFAULT_AVATAR_FALL_HEIGHT;
-    } else {
+    int32_t collisionMask = computeCollisionMask();
+    if (collisionMask == BULLET_COLLISION_MASK_COLLISIONLESS) {
         rayLength += MIN_HOVER_HEIGHT;
+    } else {
+        rayLength += _scaleFactor * DEFAULT_AVATAR_FALL_HEIGHT;
     }
     btVector3 rayEnd = rayStart - rayLength * _currentUp;
 
@@ -746,69 +726,7 @@ void CharacterController::updateState() {
 
     // disable normal state transitions while collisionless
     const btScalar MAX_WALKING_SPEED = 2.65f;
-    if (collisionGroup == BULLET_COLLISION_GROUP_MY_AVATAR) {
-        switch (_state) {
-        case State::Ground:
-            if (!rayHasHit && !_hasSupport) {
-                SET_STATE(State::Hover, "no ground detected");
-            } else if (_pendingFlags & PENDING_FLAG_JUMP && _jumpButtonDownCount != _takeoffJumpButtonID) {
-                _takeoffJumpButtonID = _jumpButtonDownCount;
-                _takeoffToInAirStartTime = now;
-                SET_STATE(State::Takeoff, "jump pressed");
-            } else if (rayHasHit && !_hasSupport && _floorDistance > GROUND_TO_FLY_THRESHOLD) {
-                SET_STATE(State::InAir, "falling");
-            }
-            break;
-        case State::Takeoff:
-            if (!rayHasHit && !_hasSupport) {
-                SET_STATE(State::Hover, "no ground");
-            } else if ((now - _takeoffToInAirStartTime) > TAKE_OFF_TO_IN_AIR_PERIOD) {
-                SET_STATE(State::InAir, "takeoff done");
-
-                // compute jumpSpeed based on the scaled jump height for the default avatar in default gravity.
-                const float jumpHeight = std::max(_scaleFactor * DEFAULT_AVATAR_JUMP_HEIGHT, DEFAULT_AVATAR_MIN_JUMP_HEIGHT);
-                const float jumpSpeed = sqrtf(2.0f * -DEFAULT_AVATAR_GRAVITY * jumpHeight);
-                velocity += jumpSpeed * _currentUp;
-                _rigidBody->setLinearVelocity(velocity);
-            }
-            break;
-        case State::InAir: {
-            const float jumpHeight = std::max(_scaleFactor * DEFAULT_AVATAR_JUMP_HEIGHT, DEFAULT_AVATAR_MIN_JUMP_HEIGHT);
-            const float jumpSpeed = sqrtf(2.0f * -DEFAULT_AVATAR_GRAVITY * jumpHeight);
-            if ((velocity.dot(_currentUp) <= (jumpSpeed / 2.0f)) && ((_floorDistance < FLY_TO_GROUND_THRESHOLD) || _hasSupport)) {
-                SET_STATE(State::Ground, "hit ground");
-            } else if (_flyingAllowed) {
-                btVector3 desiredVelocity = _targetVelocity;
-                if (desiredVelocity.length2() < MIN_TARGET_SPEED_SQUARED) {
-                    desiredVelocity = btVector3(0.0f, 0.0f, 0.0f);
-                }
-                bool vertTargetSpeedIsNonZero = desiredVelocity.dot(_currentUp) > MIN_TARGET_SPEED;
-                if ((jumpButtonHeld || vertTargetSpeedIsNonZero) && (_takeoffJumpButtonID != _jumpButtonDownCount)) {
-                    SET_STATE(State::Hover, "double jump button");
-                } else if ((jumpButtonHeld || vertTargetSpeedIsNonZero) && (now - _jumpButtonDownStartTime) > JUMP_TO_HOVER_PERIOD) {
-                    SET_STATE(State::Hover, "jump button held");
-                } else if (_floorDistance > _scaleFactor * DEFAULT_AVATAR_FALL_HEIGHT) {
-                    // Transition to hover if we are above the fall threshold
-                    SET_STATE(State::Hover, "above fall threshold");
-                }
-            } else if (!rayHasHit && !_hasSupport) {
-                SET_STATE(State::Hover, "no ground detected");
-            }
-            break;
-        }
-        case State::Hover:
-            btScalar horizontalSpeed = (velocity - velocity.dot(_currentUp) * _currentUp).length();
-            bool flyingFast = horizontalSpeed > (MAX_WALKING_SPEED * 0.75f);
-            if (!_flyingAllowed && rayHasHit) {
-                SET_STATE(State::InAir, "flying not allowed");
-            } else if ((_floorDistance < MIN_HOVER_HEIGHT) && !jumpButtonHeld && !flyingFast) {
-                SET_STATE(State::InAir, "near ground");
-            } else if (((_floorDistance < FLY_TO_GROUND_THRESHOLD) || _hasSupport) && !flyingFast) {
-                SET_STATE(State::Ground, "touching ground");
-            }
-            break;
-        }
-    } else {
+    if (collisionMask == BULLET_COLLISION_MASK_COLLISIONLESS) {
         // when collisionless: only switch between State::Ground and State::Hover
         // and bypass state debugging
         if (rayHasHit) {
@@ -820,6 +738,68 @@ void CharacterController::updateState() {
         } else {
             _state = State::Hover;
         }
+    } else {
+        switch (_state) {
+            case State::Ground:
+                if (!rayHasHit && !_hasSupport) {
+                    SET_STATE(State::Hover, "no ground detected");
+                } else if (_pendingFlags & PENDING_FLAG_JUMP && _jumpButtonDownCount != _takeoffJumpButtonID) {
+                    _takeoffJumpButtonID = _jumpButtonDownCount;
+                    _takeoffToInAirStartTime = now;
+                    SET_STATE(State::Takeoff, "jump pressed");
+                } else if (rayHasHit && !_hasSupport && _floorDistance > GROUND_TO_FLY_THRESHOLD) {
+                    SET_STATE(State::InAir, "falling");
+                }
+                break;
+            case State::Takeoff:
+                if (!rayHasHit && !_hasSupport) {
+                    SET_STATE(State::Hover, "no ground");
+                } else if ((now - _takeoffToInAirStartTime) > TAKE_OFF_TO_IN_AIR_PERIOD) {
+                    SET_STATE(State::InAir, "takeoff done");
+
+                    // compute jumpSpeed based on the scaled jump height for the default avatar in default gravity.
+                    const float jumpHeight = std::max(_scaleFactor * DEFAULT_AVATAR_JUMP_HEIGHT, DEFAULT_AVATAR_MIN_JUMP_HEIGHT);
+                    const float jumpSpeed = sqrtf(2.0f * -DEFAULT_AVATAR_GRAVITY * jumpHeight);
+                    velocity += jumpSpeed * _currentUp;
+                    _rigidBody->setLinearVelocity(velocity);
+                }
+                break;
+            case State::InAir: {
+                const float jumpHeight = std::max(_scaleFactor * DEFAULT_AVATAR_JUMP_HEIGHT, DEFAULT_AVATAR_MIN_JUMP_HEIGHT);
+                const float jumpSpeed = sqrtf(2.0f * -DEFAULT_AVATAR_GRAVITY * jumpHeight);
+                if ((velocity.dot(_currentUp) <= (jumpSpeed / 2.0f)) && ((_floorDistance < FLY_TO_GROUND_THRESHOLD) || _hasSupport)) {
+                    SET_STATE(State::Ground, "hit ground");
+                } else if (_flyingAllowed) {
+                    btVector3 desiredVelocity = _targetVelocity;
+                    if (desiredVelocity.length2() < MIN_TARGET_SPEED_SQUARED) {
+                        desiredVelocity = btVector3(0.0f, 0.0f, 0.0f);
+                    }
+                    bool vertTargetSpeedIsNonZero = desiredVelocity.dot(_currentUp) > MIN_TARGET_SPEED;
+                    if ((jumpButtonHeld || vertTargetSpeedIsNonZero) && (_takeoffJumpButtonID != _jumpButtonDownCount)) {
+                        SET_STATE(State::Hover, "double jump button");
+                    } else if ((jumpButtonHeld || vertTargetSpeedIsNonZero) && (now - _jumpButtonDownStartTime) > JUMP_TO_HOVER_PERIOD) {
+                        SET_STATE(State::Hover, "jump button held");
+                    } else if (_floorDistance > _scaleFactor * DEFAULT_AVATAR_FALL_HEIGHT) {
+                        // Transition to hover if we are above the fall threshold
+                        SET_STATE(State::Hover, "above fall threshold");
+                    }
+                } else if (!rayHasHit && !_hasSupport) {
+                    SET_STATE(State::Hover, "no ground detected");
+                }
+                break;
+            }
+            case State::Hover:
+                btScalar horizontalSpeed = (velocity - velocity.dot(_currentUp) * _currentUp).length();
+                bool flyingFast = horizontalSpeed > (MAX_WALKING_SPEED * 0.75f);
+                if (!_flyingAllowed && rayHasHit) {
+                    SET_STATE(State::InAir, "flying not allowed");
+                } else if ((_floorDistance < MIN_HOVER_HEIGHT) && !jumpButtonHeld && !flyingFast) {
+                    SET_STATE(State::InAir, "near ground");
+                } else if (((_floorDistance < FLY_TO_GROUND_THRESHOLD) || _hasSupport) && !flyingFast) {
+                    SET_STATE(State::Ground, "touching ground");
+                }
+                break;
+        }
     }
 }
 
@@ -866,6 +846,6 @@ void CharacterController::setFlyingAllowed(bool value) {
 void CharacterController::setCollisionlessAllowed(bool value) {
     if (value != _collisionlessAllowed) {
         _collisionlessAllowed = value;
-        _pendingFlags |= PENDING_FLAG_UPDATE_COLLISION_GROUP;
+        _pendingFlags |= PENDING_FLAG_UPDATE_COLLISION_MASK;
     }
 }
diff --git a/libraries/physics/src/CharacterController.h b/libraries/physics/src/CharacterController.h
old mode 100644
new mode 100755
index 50db2bea12..cac37da0b9
--- a/libraries/physics/src/CharacterController.h
+++ b/libraries/physics/src/CharacterController.h
@@ -30,7 +30,7 @@ const uint32_t PENDING_FLAG_ADD_TO_SIMULATION = 1U << 0;
 const uint32_t PENDING_FLAG_REMOVE_FROM_SIMULATION = 1U << 1;
 const uint32_t PENDING_FLAG_UPDATE_SHAPE = 1U << 2;
 const uint32_t PENDING_FLAG_JUMP = 1U << 3;
-const uint32_t PENDING_FLAG_UPDATE_COLLISION_GROUP = 1U << 4;
+const uint32_t PENDING_FLAG_UPDATE_COLLISION_MASK = 1U << 4;
 const uint32_t PENDING_FLAG_RECOMPUTE_FLYING = 1U << 5;
 const float DEFAULT_MIN_FLOOR_NORMAL_DOT_UP = cosf(PI / 3.0f);
 
@@ -120,14 +120,16 @@ public:
     bool isStuck() const { return _isStuck; }
 
     void setCollisionless(bool collisionless);
-    int32_t computeCollisionGroup() const;
-    void handleChangedCollisionGroup();
+
+    virtual int32_t computeCollisionMask() const = 0;
+    virtual void handleChangedCollisionMask() = 0;
 
     bool getRigidBodyLocation(glm::vec3& avatarRigidBodyPosition, glm::quat& avatarRigidBodyRotation);
 
     void setFlyingAllowed(bool value);
     void setCollisionlessAllowed(bool value);
 
+    void setPendingFlagsUpdateCollisionMask(){ _pendingFlags |= PENDING_FLAG_UPDATE_COLLISION_MASK; }
 
 protected:
 #ifdef DEBUG_STATE_CHANGE