From cf0499e6715901d2ef3697d2f775705653becb67 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Thu, 23 Apr 2015 21:07:04 -0700
Subject: [PATCH 01/25] various physics-related experiments

---
 libraries/entities/src/EntityItem.cpp       | 68 +++++++++++----
 libraries/entities/src/EntityItem.h         |  9 +-
 libraries/physics/src/EntityMotionState.cpp | 27 +++---
 libraries/physics/src/PhysicsEngine.cpp     | 91 ++++++++++++++-------
 libraries/physics/src/PhysicsEngine.h       |  5 +-
 5 files changed, 141 insertions(+), 59 deletions(-)

diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index f968244ab3..6c09569037 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -65,7 +65,13 @@ EntityItem::EntityItem(const EntityItemID& entityItemID) :
     _marketplaceID(ENTITY_ITEM_DEFAULT_MARKETPLACE_ID),
     _physicsInfo(NULL),
     _dirtyFlags(0),
-    _element(NULL)
+    _element(NULL),
+    _previousPositionFromServer(ENTITY_ITEM_ZERO_VEC3),
+    _previousRotationFromServer(ENTITY_ITEM_DEFAULT_ROTATION),
+    _previousVelocityFromServer(ENTITY_ITEM_ZERO_VEC3),
+    _previousAngularVelocityFromServer(ENTITY_ITEM_ZERO_VEC3),
+    _previousGravityFromServer(ENTITY_ITEM_ZERO_VEC3),
+    _previousAccelerationFromServer(ENTITY_ITEM_ZERO_VEC3)
 {
     quint64 now = usecTimestampNow();
     _lastSimulated = now;
@@ -592,7 +598,10 @@ int EntityItem::readEntityDataFromBuffer(const unsigned char* data, int bytesLef
                 #ifdef WANT_DEBUG
                     qCDebug(entities) << "skipTimeForward:" << skipTimeForward;
                 #endif
-                simulateKinematicMotion(skipTimeForward);
+
+                // we want to extrapolate the motion forward to compensate for packet travel time, but
+                // we don't want the side effect of flag setting.
+                simulateKinematicMotion(skipTimeForward, false);
             }
             _lastSimulated = now;
         }
@@ -725,7 +734,7 @@ void EntityItem::simulate(const quint64& now) {
     _lastSimulated = now;
 }
 
-void EntityItem::simulateKinematicMotion(float timeElapsed) {
+void EntityItem::simulateKinematicMotion(float timeElapsed, bool setFlags) {
     if (hasAngularVelocity()) {
         // angular damping
         if (_angularDamping > 0.0f) {
@@ -740,7 +749,7 @@ void EntityItem::simulateKinematicMotion(float timeElapsed) {
         
         const float EPSILON_ANGULAR_VELOCITY_LENGTH = 0.0017453f; // 0.0017453 rad/sec = 0.1f degrees/sec
         if (angularSpeed < EPSILON_ANGULAR_VELOCITY_LENGTH) {
-            if (angularSpeed > 0.0f) {
+            if (setFlags && angularSpeed > 0.0f) {
                 _dirtyFlags |= EntityItem::DIRTY_MOTION_TYPE;
             }
             _angularVelocity = ENTITY_ITEM_ZERO_VEC3;
@@ -802,7 +811,7 @@ void EntityItem::simulateKinematicMotion(float timeElapsed) {
         const float EPSILON_LINEAR_VELOCITY_LENGTH = 0.001f; // 1mm/sec
         if (speed < EPSILON_LINEAR_VELOCITY_LENGTH) {
             setVelocity(ENTITY_ITEM_ZERO_VEC3);
-            if (speed > 0.0f) {
+            if (setFlags && speed > 0.0f) {
                 _dirtyFlags |= EntityItem::DIRTY_MOTION_TYPE;
             }
         } else {
@@ -1089,8 +1098,11 @@ void EntityItem::updatePositionInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updatePosition(const glm::vec3& value) { 
-    if (glm::distance(_position, value) > MIN_POSITION_DELTA) {
+    if (value == _previousPositionFromServer) {
         _position = value;
+    } else if (glm::distance(_position, value) > MIN_POSITION_DELTA) {
+        _position = value;
+        _previousPositionFromServer = value;
         _dirtyFlags |= EntityItem::DIRTY_POSITION;
     }
 }
@@ -1108,8 +1120,11 @@ void EntityItem::updateDimensions(const glm::vec3& value) {
 }
 
 void EntityItem::updateRotation(const glm::quat& rotation) { 
-    if (glm::dot(_rotation, rotation) < MIN_ALIGNMENT_DOT) {
-        _rotation = rotation; 
+    if (rotation == _previousRotationFromServer) {
+        _rotation = rotation;
+    } else if (glm::abs(glm::dot(_rotation, rotation)) < MIN_ALIGNMENT_DOT) {
+        _rotation = rotation;
+        _previousRotationFromServer = rotation;
         _dirtyFlags |= EntityItem::DIRTY_POSITION;
     }
 }
@@ -1144,12 +1159,19 @@ void EntityItem::updateVelocityInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updateVelocity(const glm::vec3& value) { 
-    if (glm::distance(_velocity, value) > MIN_VELOCITY_DELTA) {
+    if (value == _previousVelocityFromServer) {
         if (glm::length(value) < MIN_VELOCITY_DELTA) {
             _velocity = ENTITY_ITEM_ZERO_VEC3;
         } else {
             _velocity = value;
         }
+    } else if (glm::distance(_velocity, value) > MIN_VELOCITY_DELTA) {
+        if (glm::length(value) < MIN_VELOCITY_DELTA) {
+            _velocity = ENTITY_ITEM_ZERO_VEC3;
+        } else {
+            _velocity = value;
+        }
+        _previousVelocityFromServer = value;
         _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
     }
 }
@@ -1167,20 +1189,38 @@ void EntityItem::updateGravityInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updateGravity(const glm::vec3& value) { 
-    if ( glm::distance(_gravity, value) > MIN_GRAVITY_DELTA) {
+    if (value == _previousGravityFromServer) {
         _gravity = value;
+    } else if (glm::distance(_gravity, value) > MIN_GRAVITY_DELTA) {
+        _gravity = value;
+        _previousGravityFromServer = value;
         _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
     }
 }
 
 void EntityItem::updateAcceleration(const glm::vec3& value) { 
-    _acceleration = value;
-    _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
+    if (value == _previousAccelerationFromServer) {
+        _acceleration = value;
+    } else if (glm::distance(_acceleration, value) > MIN_ACCELERATION_DELTA) {
+        _acceleration = value;
+        _previousAccelerationFromServer = value;
+        _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
+    }
 }
 
 void EntityItem::updateAngularVelocity(const glm::vec3& value) { 
-    if (glm::distance(_angularVelocity, value) > MIN_SPIN_DELTA) {
-        _angularVelocity = value; 
+    if (value == _previousAngularVelocityFromServer) {
+        if (glm::length(value) < MIN_SPIN_DELTA) {
+            _angularVelocity = ENTITY_ITEM_ZERO_VEC3;
+        } else {
+            _angularVelocity = value;
+        }
+    } else if (glm::distance(_angularVelocity, value) > MIN_SPIN_DELTA) {
+        if (glm::length(value) < MIN_SPIN_DELTA) {
+            _angularVelocity = ENTITY_ITEM_ZERO_VEC3;
+        } else {
+            _angularVelocity = value;
+        }
         _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
     }
 }
diff --git a/libraries/entities/src/EntityItem.h b/libraries/entities/src/EntityItem.h
index fda8167564..fa6efd72a1 100644
--- a/libraries/entities/src/EntityItem.h
+++ b/libraries/entities/src/EntityItem.h
@@ -132,7 +132,7 @@ public:
     
     // perform linear extrapolation for SimpleEntitySimulation
     void simulate(const quint64& now);
-    void simulateKinematicMotion(float timeElapsed);
+    void simulateKinematicMotion(float timeElapsed, bool setFlags=true);
 
     virtual bool needsToCallUpdate() const { return false; }
 
@@ -368,6 +368,13 @@ protected:
     uint32_t _dirtyFlags;   // things that have changed from EXTERNAL changes (via script or packet) but NOT from simulation
 
     EntityTreeElement* _element;    // back pointer to containing Element
+
+    glm::vec3 _previousPositionFromServer;
+    glm::quat _previousRotationFromServer;
+    glm::vec3 _previousVelocityFromServer;
+    glm::vec3 _previousAngularVelocityFromServer;
+    glm::vec3 _previousGravityFromServer;
+    glm::vec3 _previousAccelerationFromServer;
 };
 
 
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index d1571fbcc5..0f4bf05fb4 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -189,21 +189,21 @@ float EntityMotionState::computeMass(const ShapeInfo& shapeInfo) const {
 }
 
 bool EntityMotionState::shouldSendUpdate(uint32_t simulationFrame) {
+    if (getShouldClaimSimulationOwnership()) {
+        return true;
+    }
+
     bool baseResult = this->ObjectMotionState::shouldSendUpdate(simulationFrame);
 
     if (!baseResult) {
         return false;
     }
 
-    if (getShouldClaimSimulationOwnership()) {
-        return true;
-    }
-
     auto nodeList = DependencyManager::get<NodeList>();
     const QUuid& myNodeID = nodeList->getSessionUUID();
     const QUuid& simulatorID = _entity->getSimulatorID();
 
-    if (simulatorID != myNodeID) {
+    if (simulatorID != myNodeID && !simulatorID.isNull()) {
         // some other Node owns the simulating of this, so don't broadcast the results of local simulation.
         return false;
     }
@@ -286,15 +286,18 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
         QUuid myNodeID = nodeList->getSessionUUID();
         QUuid simulatorID = _entity->getSimulatorID();
 
-        if (getShouldClaimSimulationOwnership()) {
-            _entity->setSimulatorID(myNodeID);
-            properties.setSimulatorID(myNodeID);
-            setShouldClaimSimulationOwnership(false);
+        if (simulatorID.isNull() && !(zeroSpeed && zeroSpin)) {
+            // the entity is moving and no node has claimed simulation ownership.  try to claim it.
+            setShouldClaimSimulationOwnership(true);
         }
 
-        if (simulatorID == myNodeID && zeroSpeed && zeroSpin) {
-            // we are the simulator and the object has stopped.  give up "simulator" status
-            _entity->setSimulatorID(QUuid());
+        if (getShouldClaimSimulationOwnership()) {
+            // _entity->setSimulatorID(myNodeID);
+            properties.setSimulatorID(myNodeID);
+            setShouldClaimSimulationOwnership(false);
+        } else if (simulatorID == myNodeID && zeroSpeed && zeroSpin) {
+            // we are the simulator and the entity has stopped.  give up "simulator" status
+            // _entity->setSimulatorID(QUuid());
             properties.setSimulatorID(QUuid());
         }
 
diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index 45f3c97e30..9d50b71514 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -119,8 +119,10 @@ void PhysicsEngine::entityChangedInternal(EntityItem* entity) {
     assert(entity);
     void* physicsInfo = entity->getPhysicsInfo();
     if (physicsInfo) {
-        ObjectMotionState* motionState = static_cast<ObjectMotionState*>(physicsInfo);
-        _incomingChanges.insert(motionState);
+        if ((entity->getDirtyFlags() & (HARD_DIRTY_PHYSICS_FLAGS | EASY_DIRTY_PHYSICS_FLAGS)) > 0) {
+            ObjectMotionState* motionState = static_cast<ObjectMotionState*>(physicsInfo);
+            _incomingChanges.insert(motionState);
+        }
     } else {
         // try to add this entity again (maybe something changed such that it will work this time)
         addEntity(entity);
@@ -366,15 +368,46 @@ void PhysicsEngine::stepNonPhysicalKinematics(const quint64& now) {
     }
 }
 
-void PhysicsEngine::computeCollisionEvents() {
-    BT_PROFILE("computeCollisionEvents");
+
+void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const btCollisionObject* objectB) {
+    if (!objectA || !objectB) {
+        return;
+    }
 
     auto nodeList = DependencyManager::get<NodeList>();
     QUuid myNodeID = nodeList->getSessionUUID();
-
     const btCollisionObject* characterCollisionObject =
         _characterController ? _characterController->getCollisionObject() : NULL;
 
+    ObjectMotionState* a = static_cast<ObjectMotionState*>(objectA->getUserPointer());
+    ObjectMotionState* b = static_cast<ObjectMotionState*>(objectB->getUserPointer());
+    EntityItem* entityA = a ? a->getEntity() : NULL;
+    EntityItem* entityB = b ? b->getEntity() : NULL;
+    bool aIsDynamic = entityA && !objectA->isStaticOrKinematicObject();
+    bool bIsDynamic = entityB && !objectB->isStaticOrKinematicObject();
+
+    // collisions cause infectious spread of simulation-ownership.  we also attempt to take
+    // ownership of anything that collides with our avatar.
+    if ((aIsDynamic && entityA->getSimulatorID() == myNodeID) ||
+        (a && a->getShouldClaimSimulationOwnership()) ||
+        (objectA == characterCollisionObject)) {
+        if (bIsDynamic) {
+            b->setShouldClaimSimulationOwnership(true);
+        }
+    }
+    if ((bIsDynamic && entityB->getSimulatorID() == myNodeID) ||
+        (b && b->getShouldClaimSimulationOwnership()) ||
+        (objectB == characterCollisionObject)) {
+        if (aIsDynamic) {
+            a->setShouldClaimSimulationOwnership(true);
+        }
+    }
+}
+
+
+void PhysicsEngine::computeCollisionEvents() {
+    BT_PROFILE("computeCollisionEvents");
+
     // update all contacts every frame
     int numManifolds = _collisionDispatcher->getNumManifolds();
     for (int i = 0; i < numManifolds; ++i) {
@@ -393,31 +426,12 @@ void PhysicsEngine::computeCollisionEvents() {
 
             ObjectMotionState* a = static_cast<ObjectMotionState*>(objectA->getUserPointer());
             ObjectMotionState* b = static_cast<ObjectMotionState*>(objectB->getUserPointer());
-            EntityItem* entityA = a ? a->getEntity() : NULL;
-            EntityItem* entityB = b ? b->getEntity() : NULL;
-            bool aIsDynamic = entityA && !objectA->isStaticOrKinematicObject();
-            bool bIsDynamic = entityB && !objectB->isStaticOrKinematicObject();
-
             if (a || b) {
                 // the manifold has up to 4 distinct points, but only extract info from the first
                 _contactMap[ContactKey(a, b)].update(_numContactFrames, contactManifold->getContactPoint(0), _originOffset);
             }
-            // collisions cause infectious spread of simulation-ownership.  we also attempt to take
-            // ownership of anything that collides with our avatar.
-            if ((aIsDynamic && entityA->getSimulatorID() == myNodeID) ||
-                (a && a->getShouldClaimSimulationOwnership()) ||
-                (objectA == characterCollisionObject)) {
-                if (bIsDynamic) {
-                    b->setShouldClaimSimulationOwnership(true);
-                }
-            }
-            if ((bIsDynamic && entityB->getSimulatorID() == myNodeID) ||
-                (b && b->getShouldClaimSimulationOwnership()) ||
-                (objectB == characterCollisionObject)) {
-                if (aIsDynamic) {
-                    a->setShouldClaimSimulationOwnership(true);
-                }
-            }
+
+            doOwnershipInfection(objectA, objectB);
         }
     }
     
@@ -453,6 +467,16 @@ void PhysicsEngine::computeCollisionEvents() {
         if (type == CONTACT_EVENT_TYPE_END) {
             ContactMap::iterator iterToDelete = contactItr;
             ++contactItr;
+
+            // const ContactKey& contactKey = (*iterToDelete).first;
+            // const ObjectMotionState* objectMotionStateA = static_cast<ObjectMotionState*>(contactKey._a);
+            // const ObjectMotionState* objectMotionStateB = static_cast<ObjectMotionState*>(contactKey._b);
+            // const btCollisionObject* objectA =
+            //     objectMotionStateA ? static_cast<const btCollisionObject*>(objectMotionStateA->getRigidBody()) : NULL;
+            // const btCollisionObject* objectB =
+            //     objectMotionStateB ? static_cast<const btCollisionObject*>(objectMotionStateB->getRigidBody()) : NULL;
+            // doOwnershipInfection(objectA, objectB);
+
             _contactMap.erase(iterToDelete);
         } else {
             ++contactItr;
@@ -576,11 +600,16 @@ void PhysicsEngine::removeObjectFromBullet(ObjectMotionState* motionState) {
     assert(motionState);
     btRigidBody* body = motionState->getRigidBody();
 
-    // set the about-to-be-deleted entity active in order to wake up the island it's part of.  this is done
-    // so that anything resting on top of it will fall.
-    // body->setActivationState(ACTIVE_TAG);
-    EntityItem* entity = static_cast<EntityMotionState*>(motionState)->getEntity();
-    bump(entity);
+    // activate this before deleting it so that anything resting on it will begin to fall.
+    //
+    // body->activate();
+    //
+    // motionState->setShouldClaimSimulationOwnership(true);
+    // computeCollisionEvents();
+    //
+    EntityItem* entityItem = motionState ? motionState->getEntity() : NULL;
+    bump(entityItem);
+
 
     if (body) {
         const btCollisionShape* shape = body->getCollisionShape();
diff --git a/libraries/physics/src/PhysicsEngine.h b/libraries/physics/src/PhysicsEngine.h
index 148261c6d2..9fe632d462 100644
--- a/libraries/physics/src/PhysicsEngine.h
+++ b/libraries/physics/src/PhysicsEngine.h
@@ -89,16 +89,19 @@ public:
 
     void dumpNextStats() { _dumpNextStats = true; }
 
+    void bump(EntityItem* bumpEntity);
+
 private:
     /// \param motionState pointer to Object's MotionState
     void removeObjectFromBullet(ObjectMotionState* motionState);
 
     void removeContacts(ObjectMotionState* motionState);
 
+    void doOwnershipInfection(const btCollisionObject* objectA, const btCollisionObject* objectB);
+
     // return 'true' of update was successful
     bool updateObjectHard(btRigidBody* body, ObjectMotionState* motionState, uint32_t flags);
     void updateObjectEasy(btRigidBody* body, ObjectMotionState* motionState, uint32_t flags);
-    void bump(EntityItem* bumpEntity);
 
     btClock _clock;
     btDefaultCollisionConfiguration* _collisionConfig = NULL;

From 6d151ee3ed305278585e518c5a556126bd9f3067 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 09:29:05 -0700
Subject: [PATCH 02/25] try a different way of identifying when to claim
 simulation ownership of a moving entity

---
 libraries/physics/src/EntityMotionState.cpp | 18 +++++++++++++-----
 libraries/physics/src/PhysicsEngine.cpp     |  5 ++---
 2 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 0f4bf05fb4..3c424c7db9 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -108,11 +108,19 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
     getVelocity(v);
     _entity->setVelocity(v);
 
-    getAngularVelocity(v);
+    glm::vec3 av;
+    getAngularVelocity(av);
     _entity->setAngularVelocity(v);
 
     _entity->setLastSimulated(usecTimestampNow());
 
+    bool isStill = (v == vec3(0.0f)) && (av == vec3(0.0f));
+
+    if (_entity->getSimulatorID().isNull() && !isStill) {
+        // object is moving and has no owner.  attempt to claim simulation ownership.
+        _entity->setShouldClaimSimulationOwnership(true);
+    }
+
     _outgoingPacketFlags = DIRTY_PHYSICS_FLAGS;
     EntityMotionState::enqueueOutgoingEntity(_entity);
 
@@ -286,10 +294,10 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
         QUuid myNodeID = nodeList->getSessionUUID();
         QUuid simulatorID = _entity->getSimulatorID();
 
-        if (simulatorID.isNull() && !(zeroSpeed && zeroSpin)) {
-            // the entity is moving and no node has claimed simulation ownership.  try to claim it.
-            setShouldClaimSimulationOwnership(true);
-        }
+        // if (simulatorID.isNull() && !(zeroSpeed && zeroSpin)) {
+        //     // the entity is moving and no node has claimed simulation ownership.  try to claim it.
+        //     setShouldClaimSimulationOwnership(true);
+        // }
 
         if (getShouldClaimSimulationOwnership()) {
             // _entity->setSimulatorID(myNodeID);
diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index 9d50b71514..5a86f8552e 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -370,9 +370,8 @@ void PhysicsEngine::stepNonPhysicalKinematics(const quint64& now) {
 
 
 void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const btCollisionObject* objectB) {
-    if (!objectA || !objectB) {
-        return;
-    }
+    assert(objectA);
+    assert(objectB);
 
     auto nodeList = DependencyManager::get<NodeList>();
     QUuid myNodeID = nodeList->getSessionUUID();

From 6fdbce9ee3fa609c7ddee47c8d9f0d3afa376f7d Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 09:29:57 -0700
Subject: [PATCH 03/25] oops

---
 libraries/physics/src/EntityMotionState.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 3c424c7db9..37a1732ece 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -118,7 +118,7 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
 
     if (_entity->getSimulatorID().isNull() && !isStill) {
         // object is moving and has no owner.  attempt to claim simulation ownership.
-        _entity->setShouldClaimSimulationOwnership(true);
+        setShouldClaimSimulationOwnership(true);
     }
 
     _outgoingPacketFlags = DIRTY_PHYSICS_FLAGS;

From 1b84be6e10b0796cabce7395dda285d74a49c366 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 10:55:43 -0700
Subject: [PATCH 04/25] attempting to have visual indicator of simulatorID

---
 .../entities-renderer/src/EntityTreeRenderer.cpp | 16 ++++++++++++++++
 .../src/RenderableModelEntityItem.cpp            | 15 ++++++++++++++-
 libraries/entities/src/EntityTree.cpp            | 16 ++++++++++++----
 libraries/physics/src/EntityMotionState.cpp      |  2 +-
 4 files changed, 43 insertions(+), 6 deletions(-)

diff --git a/libraries/entities-renderer/src/EntityTreeRenderer.cpp b/libraries/entities-renderer/src/EntityTreeRenderer.cpp
index dde13552f3..fbfa882494 100644
--- a/libraries/entities-renderer/src/EntityTreeRenderer.cpp
+++ b/libraries/entities-renderer/src/EntityTreeRenderer.cpp
@@ -677,10 +677,26 @@ void EntityTreeRenderer::renderElement(OctreeElement* element, RenderArgs* args)
                     if (bigEnoughToRender) {
                         renderProxies(entityItem, args);
 
+
+                        // XXX
+                        // auto nodeList = DependencyManager::get<NodeList>();
+                        // const QUuid& myNodeID = nodeList->getSessionUUID();
+                        // XXX
+
+
                         Glower* glower = NULL;
                         if (entityItem->getGlowLevel() > 0.0f) {
                             glower = new Glower(entityItem->getGlowLevel());
                         }
+
+                        // XXX glow things we are simulating
+                        // if (entityItem->getSimulatorID() == myNodeID) {
+                        //     if (glower) delete glower;
+                        //     glower = new Glower();
+                        // }
+                        // XXX glow things we are simulating
+
+
                         entityItem->render(args);
                         args->_itemsRendered++;
                         if (glower) {
diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index 8ca6562505..1bdfa7bd1a 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -118,13 +118,26 @@ void RenderableModelEntityItem::render(RenderArgs* args) {
     glm::vec3 position = getPosition();
     glm::vec3 dimensions = getDimensions();
     float size = glm::length(dimensions);
+
+    // XXX
+    auto nodeList = DependencyManager::get<NodeList>();
+    const QUuid& myNodeID = nodeList->getSessionUUID();
+    // XXX
     
-    if (drawAsModel) {
+    if (drawAsModel
+        && getSimulatorID() != myNodeID
+        ) {
         remapTextures();
         glPushMatrix();
         {
             float alpha = getLocalRenderAlpha();
 
+            // XXX
+            // if (getSimulatorID() == myNodeID) {
+            //     alpha = 1.0;
+            // }
+            // XXX
+
             if (!_model || _needsModelReload) {
                 // TODO: this getModel() appears to be about 3% of model render time. We should optimize
                 PerformanceTimer perfTimer("getModel");
diff --git a/libraries/entities/src/EntityTree.cpp b/libraries/entities/src/EntityTree.cpp
index 5b15aa26b4..360c783d34 100644
--- a/libraries/entities/src/EntityTree.cpp
+++ b/libraries/entities/src/EntityTree.cpp
@@ -140,16 +140,24 @@ bool EntityTree::updateEntityWithElement(EntityItem* entity, const EntityItemPro
             // A Node is trying to take ownership of the simulation of this entity from another Node.  Only allow this
             // if ownership hasn't recently changed.
             if (usecTimestampNow() - entity->getSimulatorIDChangedTime() < SIMULATOR_CHANGE_LOCKOUT_PERIOD) {
-                qCDebug(entities) << "simulator_change_lockout_period:"
-                                  << entity->getSimulatorID() << "to" << properties.getSimulatorID();
+
+                // XXX
+                // qCDebug(entities) << "simulator_change_lockout_period:"
+                //                   << entity->getSimulatorID() << "to" << properties.getSimulatorID();
+                // XXX
+
                 // squash the physics-related changes.
                 properties.setSimulatorIDChanged(false);
                 properties.setPositionChanged(false);
                 properties.setVelocityChanged(false);
                 properties.setAccelerationChanged(false);
-            } else {
-                qCDebug(entities) << "allowing simulatorID change";
+
             }
+
+            // else {
+            //     qCDebug(entities) << "allowing simulatorID change";
+            // }
+
         }
 
         QString entityScriptBefore = entity->getScript();
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 37a1732ece..10d919ba2f 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -306,7 +306,7 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
         } else if (simulatorID == myNodeID && zeroSpeed && zeroSpin) {
             // we are the simulator and the entity has stopped.  give up "simulator" status
             // _entity->setSimulatorID(QUuid());
-            properties.setSimulatorID(QUuid());
+            // properties.setSimulatorID(QUuid());
         }
 
         // RELIABLE_SEND_HACK: count number of updates for entities at rest so we can stop sending them after some limit.

From b40e78311b8f8e8ae5ecff673262c783aa07e528 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 11:00:06 -0700
Subject: [PATCH 05/25] disable hack to notice that the server is sending the
 same thing repeatedly

---
 libraries/entities/src/EntityItem.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index 6c09569037..4c553201f7 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -1098,7 +1098,7 @@ void EntityItem::updatePositionInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updatePosition(const glm::vec3& value) { 
-    if (value == _previousPositionFromServer) {
+    if (false && value == _previousPositionFromServer) {
         _position = value;
     } else if (glm::distance(_position, value) > MIN_POSITION_DELTA) {
         _position = value;
@@ -1120,7 +1120,7 @@ void EntityItem::updateDimensions(const glm::vec3& value) {
 }
 
 void EntityItem::updateRotation(const glm::quat& rotation) { 
-    if (rotation == _previousRotationFromServer) {
+    if (false && rotation == _previousRotationFromServer) {
         _rotation = rotation;
     } else if (glm::abs(glm::dot(_rotation, rotation)) < MIN_ALIGNMENT_DOT) {
         _rotation = rotation;
@@ -1159,7 +1159,7 @@ void EntityItem::updateVelocityInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updateVelocity(const glm::vec3& value) { 
-    if (value == _previousVelocityFromServer) {
+    if (false && value == _previousVelocityFromServer) {
         if (glm::length(value) < MIN_VELOCITY_DELTA) {
             _velocity = ENTITY_ITEM_ZERO_VEC3;
         } else {
@@ -1189,7 +1189,7 @@ void EntityItem::updateGravityInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updateGravity(const glm::vec3& value) { 
-    if (value == _previousGravityFromServer) {
+    if (false && value == _previousGravityFromServer) {
         _gravity = value;
     } else if (glm::distance(_gravity, value) > MIN_GRAVITY_DELTA) {
         _gravity = value;
@@ -1199,7 +1199,7 @@ void EntityItem::updateGravity(const glm::vec3& value) {
 }
 
 void EntityItem::updateAcceleration(const glm::vec3& value) { 
-    if (value == _previousAccelerationFromServer) {
+    if (false && value == _previousAccelerationFromServer) {
         _acceleration = value;
     } else if (glm::distance(_acceleration, value) > MIN_ACCELERATION_DELTA) {
         _acceleration = value;
@@ -1209,7 +1209,7 @@ void EntityItem::updateAcceleration(const glm::vec3& value) {
 }
 
 void EntityItem::updateAngularVelocity(const glm::vec3& value) { 
-    if (value == _previousAngularVelocityFromServer) {
+    if (false && value == _previousAngularVelocityFromServer) {
         if (glm::length(value) < MIN_SPIN_DELTA) {
             _angularVelocity = ENTITY_ITEM_ZERO_VEC3;
         } else {

From 926694517f432864040f842108e20ca25cdd0085 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 11:07:45 -0700
Subject: [PATCH 06/25] sync

---
 libraries/entities/src/EntityTree.cpp       | 16 ++++------------
 libraries/physics/src/EntityMotionState.cpp |  8 ++++----
 2 files changed, 8 insertions(+), 16 deletions(-)

diff --git a/libraries/entities/src/EntityTree.cpp b/libraries/entities/src/EntityTree.cpp
index 360c783d34..5b15aa26b4 100644
--- a/libraries/entities/src/EntityTree.cpp
+++ b/libraries/entities/src/EntityTree.cpp
@@ -140,24 +140,16 @@ bool EntityTree::updateEntityWithElement(EntityItem* entity, const EntityItemPro
             // A Node is trying to take ownership of the simulation of this entity from another Node.  Only allow this
             // if ownership hasn't recently changed.
             if (usecTimestampNow() - entity->getSimulatorIDChangedTime() < SIMULATOR_CHANGE_LOCKOUT_PERIOD) {
-
-                // XXX
-                // qCDebug(entities) << "simulator_change_lockout_period:"
-                //                   << entity->getSimulatorID() << "to" << properties.getSimulatorID();
-                // XXX
-
+                qCDebug(entities) << "simulator_change_lockout_period:"
+                                  << entity->getSimulatorID() << "to" << properties.getSimulatorID();
                 // squash the physics-related changes.
                 properties.setSimulatorIDChanged(false);
                 properties.setPositionChanged(false);
                 properties.setVelocityChanged(false);
                 properties.setAccelerationChanged(false);
-
+            } else {
+                qCDebug(entities) << "allowing simulatorID change";
             }
-
-            // else {
-            //     qCDebug(entities) << "allowing simulatorID change";
-            // }
-
         }
 
         QString entityScriptBefore = entity->getScript();
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 10d919ba2f..4fab75384e 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -118,7 +118,7 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
 
     if (_entity->getSimulatorID().isNull() && !isStill) {
         // object is moving and has no owner.  attempt to claim simulation ownership.
-        setShouldClaimSimulationOwnership(true);
+        // setShouldClaimSimulationOwnership(true);
     }
 
     _outgoingPacketFlags = DIRTY_PHYSICS_FLAGS;
@@ -211,7 +211,7 @@ bool EntityMotionState::shouldSendUpdate(uint32_t simulationFrame) {
     const QUuid& myNodeID = nodeList->getSessionUUID();
     const QUuid& simulatorID = _entity->getSimulatorID();
 
-    if (simulatorID != myNodeID && !simulatorID.isNull()) {
+    if (simulatorID != myNodeID /* && !simulatorID.isNull() */) {
         // some other Node owns the simulating of this, so don't broadcast the results of local simulation.
         return false;
     }
@@ -305,8 +305,8 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
             setShouldClaimSimulationOwnership(false);
         } else if (simulatorID == myNodeID && zeroSpeed && zeroSpin) {
             // we are the simulator and the entity has stopped.  give up "simulator" status
-            // _entity->setSimulatorID(QUuid());
-            // properties.setSimulatorID(QUuid());
+            _entity->setSimulatorID(QUuid());
+            properties.setSimulatorID(QUuid());
         }
 
         // RELIABLE_SEND_HACK: count number of updates for entities at rest so we can stop sending them after some limit.

From a27f8f3f10ac2e1dbb91d63713bc7813fa4e1a87 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 11:28:44 -0700
Subject: [PATCH 07/25] sync

---
 libraries/entities/src/EntityItem.cpp       | 2 ++
 libraries/physics/src/EntityMotionState.cpp | 4 ++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index 4c553201f7..d39e3a9e5c 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -314,6 +314,7 @@ int EntityItem::readEntityDataFromBuffer(const unsigned char* data, int bytesLef
     glm::vec3 savePosition = _position;
     glm::quat saveRotation = _rotation;
     glm::vec3 saveVelocity = _velocity;
+    glm::vec3 saveAngularVelocity = _angularVelocity;
     glm::vec3 saveGravity = _gravity;
     glm::vec3 saveAcceleration = _acceleration;
 
@@ -616,6 +617,7 @@ int EntityItem::readEntityDataFromBuffer(const unsigned char* data, int bytesLef
         _position = savePosition;
         _rotation = saveRotation;
         _velocity = saveVelocity;
+        _angularVelocity = saveAngularVelocity;
         _gravity = saveGravity;
         _acceleration = saveAcceleration;
     }
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 4fab75384e..0ebf3c0739 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -211,7 +211,7 @@ bool EntityMotionState::shouldSendUpdate(uint32_t simulationFrame) {
     const QUuid& myNodeID = nodeList->getSessionUUID();
     const QUuid& simulatorID = _entity->getSimulatorID();
 
-    if (simulatorID != myNodeID /* && !simulatorID.isNull() */) {
+    if (simulatorID != myNodeID && !simulatorID.isNull()) {
         // some other Node owns the simulating of this, so don't broadcast the results of local simulation.
         return false;
     }
@@ -300,7 +300,7 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
         // }
 
         if (getShouldClaimSimulationOwnership()) {
-            // _entity->setSimulatorID(myNodeID);
+            _entity->setSimulatorID(myNodeID);
             properties.setSimulatorID(myNodeID);
             setShouldClaimSimulationOwnership(false);
         } else if (simulatorID == myNodeID && zeroSpeed && zeroSpin) {

From 902e84c7118d81f3d9502aa09bdebc3c9d2dc883 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 13:10:38 -0700
Subject: [PATCH 08/25] sync

---
 libraries/physics/src/EntityMotionState.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 0ebf3c0739..cff3000868 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -211,7 +211,7 @@ bool EntityMotionState::shouldSendUpdate(uint32_t simulationFrame) {
     const QUuid& myNodeID = nodeList->getSessionUUID();
     const QUuid& simulatorID = _entity->getSimulatorID();
 
-    if (simulatorID != myNodeID && !simulatorID.isNull()) {
+    if (simulatorID != myNodeID /* && !simulatorID.isNull() */) {
         // some other Node owns the simulating of this, so don't broadcast the results of local simulation.
         return false;
     }
@@ -300,12 +300,12 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
         // }
 
         if (getShouldClaimSimulationOwnership()) {
-            _entity->setSimulatorID(myNodeID);
+            // _entity->setSimulatorID(myNodeID);
             properties.setSimulatorID(myNodeID);
             setShouldClaimSimulationOwnership(false);
         } else if (simulatorID == myNodeID && zeroSpeed && zeroSpin) {
             // we are the simulator and the entity has stopped.  give up "simulator" status
-            _entity->setSimulatorID(QUuid());
+            // _entity->setSimulatorID(QUuid());
             properties.setSimulatorID(QUuid());
         }
 

From ad85837b5aa8c8db6a00762ee3bb768db49c0538 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 13:44:34 -0700
Subject: [PATCH 09/25] sync

---
 libraries/entities/src/EntityItem.h         | 3 ++-
 libraries/physics/src/EntityMotionState.cpp | 5 ++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/entities/src/EntityItem.h b/libraries/entities/src/EntityItem.h
index fa6efd72a1..e726e5b11b 100644
--- a/libraries/entities/src/EntityItem.h
+++ b/libraries/entities/src/EntityItem.h
@@ -54,7 +54,8 @@ public:
         DIRTY_MOTION_TYPE = 0x0010,
         DIRTY_SHAPE = 0x0020,
         DIRTY_LIFETIME = 0x0040,
-        DIRTY_UPDATEABLE = 0x0080
+        DIRTY_UPDATEABLE = 0x0080,
+        DIRTY_TWEAK = 0x0100
     };
 
     DONT_ALLOW_INSTANTIATION // This class can not be instantiated directly
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index cff3000868..7bed5a72af 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -114,9 +114,7 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
 
     _entity->setLastSimulated(usecTimestampNow());
 
-    bool isStill = (v == vec3(0.0f)) && (av == vec3(0.0f));
-
-    if (_entity->getSimulatorID().isNull() && !isStill) {
+    if (_entity->getSimulatorID().isNull() && isMoving()) {
         // object is moving and has no owner.  attempt to claim simulation ownership.
         // setShouldClaimSimulationOwnership(true);
     }
@@ -342,6 +340,7 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
                 qCDebug(physics) << "EntityMotionState::sendUpdate()... calling queueEditEntityMessage()...";
             #endif
 
+            qDebug() << "sending";
             entityPacketSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, id, properties);
         } else {
             #ifdef WANT_DEBUG

From fea8d846184cb0e655fbb95ba3ed575feb496366 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 14:09:10 -0700
Subject: [PATCH 10/25] sync

---
 libraries/entities/src/EntityItem.cpp       | 14 ++++++++------
 libraries/physics/src/EntityMotionState.cpp | 17 +++++++++++------
 2 files changed, 19 insertions(+), 12 deletions(-)

diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index d39e3a9e5c..07c7935556 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -620,6 +620,8 @@ int EntityItem::readEntityDataFromBuffer(const unsigned char* data, int bytesLef
         _angularVelocity = saveAngularVelocity;
         _gravity = saveGravity;
         _acceleration = saveAcceleration;
+    } else {
+        qDebug() << "accepting update";
     }
 
     return bytesRead;
@@ -1100,7 +1102,7 @@ void EntityItem::updatePositionInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updatePosition(const glm::vec3& value) { 
-    if (false && value == _previousPositionFromServer) {
+    if (/* false && */ value == _previousPositionFromServer) {
         _position = value;
     } else if (glm::distance(_position, value) > MIN_POSITION_DELTA) {
         _position = value;
@@ -1122,7 +1124,7 @@ void EntityItem::updateDimensions(const glm::vec3& value) {
 }
 
 void EntityItem::updateRotation(const glm::quat& rotation) { 
-    if (false && rotation == _previousRotationFromServer) {
+    if (/* false && */ rotation == _previousRotationFromServer) {
         _rotation = rotation;
     } else if (glm::abs(glm::dot(_rotation, rotation)) < MIN_ALIGNMENT_DOT) {
         _rotation = rotation;
@@ -1161,7 +1163,7 @@ void EntityItem::updateVelocityInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updateVelocity(const glm::vec3& value) { 
-    if (false && value == _previousVelocityFromServer) {
+    if (/* false && */ value == _previousVelocityFromServer) {
         if (glm::length(value) < MIN_VELOCITY_DELTA) {
             _velocity = ENTITY_ITEM_ZERO_VEC3;
         } else {
@@ -1191,7 +1193,7 @@ void EntityItem::updateGravityInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updateGravity(const glm::vec3& value) { 
-    if (false && value == _previousGravityFromServer) {
+    if (/* false && */ value == _previousGravityFromServer) {
         _gravity = value;
     } else if (glm::distance(_gravity, value) > MIN_GRAVITY_DELTA) {
         _gravity = value;
@@ -1201,7 +1203,7 @@ void EntityItem::updateGravity(const glm::vec3& value) {
 }
 
 void EntityItem::updateAcceleration(const glm::vec3& value) { 
-    if (false && value == _previousAccelerationFromServer) {
+    if (/* false && */ value == _previousAccelerationFromServer) {
         _acceleration = value;
     } else if (glm::distance(_acceleration, value) > MIN_ACCELERATION_DELTA) {
         _acceleration = value;
@@ -1211,7 +1213,7 @@ void EntityItem::updateAcceleration(const glm::vec3& value) {
 }
 
 void EntityItem::updateAngularVelocity(const glm::vec3& value) { 
-    if (false && value == _previousAngularVelocityFromServer) {
+    if (/* false && */ value == _previousAngularVelocityFromServer) {
         if (glm::length(value) < MIN_SPIN_DELTA) {
             _angularVelocity = ENTITY_ITEM_ZERO_VEC3;
         } else {
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 7bed5a72af..dba4cfac79 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -195,16 +195,17 @@ float EntityMotionState::computeMass(const ShapeInfo& shapeInfo) const {
 }
 
 bool EntityMotionState::shouldSendUpdate(uint32_t simulationFrame) {
-    if (getShouldClaimSimulationOwnership()) {
-        return true;
-    }
-
     bool baseResult = this->ObjectMotionState::shouldSendUpdate(simulationFrame);
 
     if (!baseResult) {
         return false;
     }
 
+    if (getShouldClaimSimulationOwnership()) {
+        qDebug() << "shouldSendUpdate due to claiming ownership";
+        return true;
+    }
+
     auto nodeList = DependencyManager::get<NodeList>();
     const QUuid& myNodeID = nodeList->getSessionUUID();
     const QUuid& simulatorID = _entity->getSimulatorID();
@@ -303,7 +304,11 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
             setShouldClaimSimulationOwnership(false);
         } else if (simulatorID == myNodeID && zeroSpeed && zeroSpin) {
             // we are the simulator and the entity has stopped.  give up "simulator" status
-            // _entity->setSimulatorID(QUuid());
+            _entity->setSimulatorID(QUuid());
+            properties.setSimulatorID(QUuid());
+        } else if (simulatorID == myNodeID && !_body->isActive()) {
+            // it's not active.  don't keep simulation ownership.
+            _entity->setSimulatorID(QUuid());
             properties.setSimulatorID(QUuid());
         }
 
@@ -340,7 +345,7 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
                 qCDebug(physics) << "EntityMotionState::sendUpdate()... calling queueEditEntityMessage()...";
             #endif
 
-            qDebug() << "sending";
+                qDebug() << "sending" << _body->isActive() << (_entity->getSimulatorID() == myNodeID);
             entityPacketSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, id, properties);
         } else {
             #ifdef WANT_DEBUG

From 6b53fefebe9124b3ca839da084786aaf56d7f6e3 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 14:21:59 -0700
Subject: [PATCH 11/25] sync

---
 libraries/physics/src/PhysicsEngine.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index 5a86f8552e..0909ded84b 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -391,6 +391,7 @@ void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const
         (a && a->getShouldClaimSimulationOwnership()) ||
         (objectA == characterCollisionObject)) {
         if (bIsDynamic) {
+            qDebug() << "setShouldClaimSimulationOwnership(true) in doOwnershipInfection";
             b->setShouldClaimSimulationOwnership(true);
         }
     }
@@ -398,6 +399,7 @@ void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const
         (b && b->getShouldClaimSimulationOwnership()) ||
         (objectB == characterCollisionObject)) {
         if (aIsDynamic) {
+            qDebug() << "setShouldClaimSimulationOwnership(true) in doOwnershipInfection";
             a->setShouldClaimSimulationOwnership(true);
         }
     }
@@ -576,12 +578,14 @@ void PhysicsEngine::bump(EntityItem* bumpEntity) {
                     EntityItem* entityB = entityMotionStateB ? entityMotionStateB->getEntity() : NULL;
                     if (entityA && entityB) {
                         if (entityA == bumpEntity) {
+                            qDebug() << "setShouldClaimSimulationOwnership(true) in bump";
                             entityMotionStateB->setShouldClaimSimulationOwnership(true);
                             if (!objectB->isActive()) {
                                 objectB->setActivationState(ACTIVE_TAG);
                             }
                         }
                         if (entityB == bumpEntity) {
+                            qDebug() << "setShouldClaimSimulationOwnership(true) in bump";
                             entityMotionStateA->setShouldClaimSimulationOwnership(true);
                             if (!objectA->isActive()) {
                                 objectA->setActivationState(ACTIVE_TAG);

From ea250c037a2d53efdbbde452415fe4ebd204bf07 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 14:27:32 -0700
Subject: [PATCH 12/25] sync

---
 libraries/physics/src/PhysicsEngine.cpp | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index 0909ded84b..235de7f172 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -391,7 +391,11 @@ void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const
         (a && a->getShouldClaimSimulationOwnership()) ||
         (objectA == characterCollisionObject)) {
         if (bIsDynamic) {
-            qDebug() << "setShouldClaimSimulationOwnership(true) in doOwnershipInfection";
+            qDebug() << "setShouldClaimSimulationOwnership(true) in doOwnershipInfection A"
+                     << (aIsDynamic && entityA->getSimulatorID() == myNodeID)
+                     << (a && a->getShouldClaimSimulationOwnership())
+                     << (objectA == characterCollisionObject);
+
             b->setShouldClaimSimulationOwnership(true);
         }
     }
@@ -399,7 +403,11 @@ void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const
         (b && b->getShouldClaimSimulationOwnership()) ||
         (objectB == characterCollisionObject)) {
         if (aIsDynamic) {
-            qDebug() << "setShouldClaimSimulationOwnership(true) in doOwnershipInfection";
+            qDebug() << "setShouldClaimSimulationOwnership(true) in doOwnershipInfection B"
+                     << (bIsDynamic && entityB->getSimulatorID() == myNodeID)
+                     << (b && b->getShouldClaimSimulationOwnership())
+                     << (objectB == characterCollisionObject);
+
             a->setShouldClaimSimulationOwnership(true);
         }
     }

From e7c6ee597a4c00287d3257109227c53b6899871c Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 14:36:05 -0700
Subject: [PATCH 13/25] sync

---
 libraries/physics/src/PhysicsEngine.cpp | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index 235de7f172..afb0e65a00 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -378,6 +378,8 @@ void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const
     const btCollisionObject* characterCollisionObject =
         _characterController ? _characterController->getCollisionObject() : NULL;
 
+    assert(!myNodeID.isNull());
+
     ObjectMotionState* a = static_cast<ObjectMotionState*>(objectA->getUserPointer());
     ObjectMotionState* b = static_cast<ObjectMotionState*>(objectB->getUserPointer());
     EntityItem* entityA = a ? a->getEntity() : NULL;
@@ -387,24 +389,23 @@ void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const
 
     // collisions cause infectious spread of simulation-ownership.  we also attempt to take
     // ownership of anything that collides with our avatar.
-    if ((aIsDynamic && entityA->getSimulatorID() == myNodeID) ||
-        (a && a->getShouldClaimSimulationOwnership()) ||
+    if ((aIsDynamic && (entityA->getSimulatorID() == myNodeID)) ||
+        // (a && a->getShouldClaimSimulationOwnership()) ||
         (objectA == characterCollisionObject)) {
         if (bIsDynamic) {
             qDebug() << "setShouldClaimSimulationOwnership(true) in doOwnershipInfection A"
-                     << (aIsDynamic && entityA->getSimulatorID() == myNodeID)
+                     << (aIsDynamic && (entityA->getSimulatorID() == myNodeID))
                      << (a && a->getShouldClaimSimulationOwnership())
                      << (objectA == characterCollisionObject);
 
             b->setShouldClaimSimulationOwnership(true);
         }
-    }
-    if ((bIsDynamic && entityB->getSimulatorID() == myNodeID) ||
-        (b && b->getShouldClaimSimulationOwnership()) ||
+    } else if ((bIsDynamic && (entityB->getSimulatorID() == myNodeID)) ||
+        // (b && b->getShouldClaimSimulationOwnership()) ||
         (objectB == characterCollisionObject)) {
         if (aIsDynamic) {
             qDebug() << "setShouldClaimSimulationOwnership(true) in doOwnershipInfection B"
-                     << (bIsDynamic && entityB->getSimulatorID() == myNodeID)
+                     << (bIsDynamic && (entityB->getSimulatorID() == myNodeID))
                      << (b && b->getShouldClaimSimulationOwnership())
                      << (objectB == characterCollisionObject);
 

From 2a8fbeca3227434824abab7688324214927db217 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 14:43:39 -0700
Subject: [PATCH 14/25] sync

---
 libraries/physics/src/EntityMotionState.h | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/physics/src/EntityMotionState.h b/libraries/physics/src/EntityMotionState.h
index 07f82aaa42..1ab3309934 100644
--- a/libraries/physics/src/EntityMotionState.h
+++ b/libraries/physics/src/EntityMotionState.h
@@ -67,7 +67,12 @@ public:
     quint8 getAccelerationNearlyGravityCount() { return _accelerationNearlyGravityCount; }
 
     virtual EntityItem* getEntity() const { return _entity; }
-    virtual void setShouldClaimSimulationOwnership(bool value) { _shouldClaimSimulationOwnership = value; }
+    virtual void setShouldClaimSimulationOwnership(bool value) {
+        if (value) {
+            qDebug() << "setShouldClaimSimulationOwnership to TRUE";
+        }
+        _shouldClaimSimulationOwnership = value;
+    }
     virtual bool getShouldClaimSimulationOwnership() { return _shouldClaimSimulationOwnership; }
 
 protected:

From 6e6793cbcc666c06db6e18a50153683f3a968937 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 15:18:02 -0700
Subject: [PATCH 15/25] remove debugging prints

---
 .../src/RenderableModelEntityItem.cpp                |  2 +-
 libraries/entities/src/EntityItem.cpp                |  2 --
 libraries/physics/src/EntityMotionState.cpp          |  2 --
 libraries/physics/src/EntityMotionState.h            |  7 +------
 libraries/physics/src/PhysicsEngine.cpp              | 12 ------------
 5 files changed, 2 insertions(+), 23 deletions(-)

diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index 1bdfa7bd1a..c4e12eb957 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -125,7 +125,7 @@ void RenderableModelEntityItem::render(RenderArgs* args) {
     // XXX
     
     if (drawAsModel
-        && getSimulatorID() != myNodeID
+        && getSimulatorID() != myNodeID // XXX
         ) {
         remapTextures();
         glPushMatrix();
diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index 07c7935556..8db68785d0 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -620,8 +620,6 @@ int EntityItem::readEntityDataFromBuffer(const unsigned char* data, int bytesLef
         _angularVelocity = saveAngularVelocity;
         _gravity = saveGravity;
         _acceleration = saveAcceleration;
-    } else {
-        qDebug() << "accepting update";
     }
 
     return bytesRead;
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index dba4cfac79..d0c362b852 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -202,7 +202,6 @@ bool EntityMotionState::shouldSendUpdate(uint32_t simulationFrame) {
     }
 
     if (getShouldClaimSimulationOwnership()) {
-        qDebug() << "shouldSendUpdate due to claiming ownership";
         return true;
     }
 
@@ -345,7 +344,6 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
                 qCDebug(physics) << "EntityMotionState::sendUpdate()... calling queueEditEntityMessage()...";
             #endif
 
-                qDebug() << "sending" << _body->isActive() << (_entity->getSimulatorID() == myNodeID);
             entityPacketSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, id, properties);
         } else {
             #ifdef WANT_DEBUG
diff --git a/libraries/physics/src/EntityMotionState.h b/libraries/physics/src/EntityMotionState.h
index 1ab3309934..07f82aaa42 100644
--- a/libraries/physics/src/EntityMotionState.h
+++ b/libraries/physics/src/EntityMotionState.h
@@ -67,12 +67,7 @@ public:
     quint8 getAccelerationNearlyGravityCount() { return _accelerationNearlyGravityCount; }
 
     virtual EntityItem* getEntity() const { return _entity; }
-    virtual void setShouldClaimSimulationOwnership(bool value) {
-        if (value) {
-            qDebug() << "setShouldClaimSimulationOwnership to TRUE";
-        }
-        _shouldClaimSimulationOwnership = value;
-    }
+    virtual void setShouldClaimSimulationOwnership(bool value) { _shouldClaimSimulationOwnership = value; }
     virtual bool getShouldClaimSimulationOwnership() { return _shouldClaimSimulationOwnership; }
 
 protected:
diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index afb0e65a00..6d0c9c878a 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -393,22 +393,12 @@ void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const
         // (a && a->getShouldClaimSimulationOwnership()) ||
         (objectA == characterCollisionObject)) {
         if (bIsDynamic) {
-            qDebug() << "setShouldClaimSimulationOwnership(true) in doOwnershipInfection A"
-                     << (aIsDynamic && (entityA->getSimulatorID() == myNodeID))
-                     << (a && a->getShouldClaimSimulationOwnership())
-                     << (objectA == characterCollisionObject);
-
             b->setShouldClaimSimulationOwnership(true);
         }
     } else if ((bIsDynamic && (entityB->getSimulatorID() == myNodeID)) ||
         // (b && b->getShouldClaimSimulationOwnership()) ||
         (objectB == characterCollisionObject)) {
         if (aIsDynamic) {
-            qDebug() << "setShouldClaimSimulationOwnership(true) in doOwnershipInfection B"
-                     << (bIsDynamic && (entityB->getSimulatorID() == myNodeID))
-                     << (b && b->getShouldClaimSimulationOwnership())
-                     << (objectB == characterCollisionObject);
-
             a->setShouldClaimSimulationOwnership(true);
         }
     }
@@ -587,14 +577,12 @@ void PhysicsEngine::bump(EntityItem* bumpEntity) {
                     EntityItem* entityB = entityMotionStateB ? entityMotionStateB->getEntity() : NULL;
                     if (entityA && entityB) {
                         if (entityA == bumpEntity) {
-                            qDebug() << "setShouldClaimSimulationOwnership(true) in bump";
                             entityMotionStateB->setShouldClaimSimulationOwnership(true);
                             if (!objectB->isActive()) {
                                 objectB->setActivationState(ACTIVE_TAG);
                             }
                         }
                         if (entityB == bumpEntity) {
-                            qDebug() << "setShouldClaimSimulationOwnership(true) in bump";
                             entityMotionStateA->setShouldClaimSimulationOwnership(true);
                             if (!objectA->isActive()) {
                                 objectA->setActivationState(ACTIVE_TAG);

From 218393a2b3c5f26c9fe9ed289702118c917513f4 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 17:37:19 -0700
Subject: [PATCH 16/25] rather than keeping track of previous pos/rot sent by
 server, use a new flag that indicates that the values should be updated in
 the physics engine, but that the object should not be woken

---
 libraries/entities/src/EntityItem.cpp       | 86 ++++++++-------------
 libraries/entities/src/EntityItem.h         |  9 +--
 libraries/physics/src/EntityMotionState.cpp |  7 +-
 3 files changed, 40 insertions(+), 62 deletions(-)

diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index 8db68785d0..243958b4a8 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -65,13 +65,7 @@ EntityItem::EntityItem(const EntityItemID& entityItemID) :
     _marketplaceID(ENTITY_ITEM_DEFAULT_MARKETPLACE_ID),
     _physicsInfo(NULL),
     _dirtyFlags(0),
-    _element(NULL),
-    _previousPositionFromServer(ENTITY_ITEM_ZERO_VEC3),
-    _previousRotationFromServer(ENTITY_ITEM_DEFAULT_ROTATION),
-    _previousVelocityFromServer(ENTITY_ITEM_ZERO_VEC3),
-    _previousAngularVelocityFromServer(ENTITY_ITEM_ZERO_VEC3),
-    _previousGravityFromServer(ENTITY_ITEM_ZERO_VEC3),
-    _previousAccelerationFromServer(ENTITY_ITEM_ZERO_VEC3)
+    _element(NULL)
 {
     quint64 now = usecTimestampNow();
     _lastSimulated = now;
@@ -1100,12 +1094,10 @@ void EntityItem::updatePositionInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updatePosition(const glm::vec3& value) { 
-    if (/* false && */ value == _previousPositionFromServer) {
+    if (value != _position) {
+        auto distance = glm::distance(_position, value);
+        _dirtyFlags |= (distance > MIN_POSITION_DELTA) ? EntityItem::DIRTY_POSITION : EntityItem::DIRTY_PHYSICS_NO_WAKE;
         _position = value;
-    } else if (glm::distance(_position, value) > MIN_POSITION_DELTA) {
-        _position = value;
-        _previousPositionFromServer = value;
-        _dirtyFlags |= EntityItem::DIRTY_POSITION;
     }
 }
 
@@ -1122,12 +1114,10 @@ void EntityItem::updateDimensions(const glm::vec3& value) {
 }
 
 void EntityItem::updateRotation(const glm::quat& rotation) { 
-    if (/* false && */ rotation == _previousRotationFromServer) {
+    if (rotation != _rotation) {
+        auto alignmentDot = glm::abs(glm::dot(_rotation, rotation));
+        _dirtyFlags |= (alignmentDot < MIN_ALIGNMENT_DOT) ? EntityItem::DIRTY_POSITION : EntityItem::DIRTY_PHYSICS_NO_WAKE;
         _rotation = rotation;
-    } else if (glm::abs(glm::dot(_rotation, rotation)) < MIN_ALIGNMENT_DOT) {
-        _rotation = rotation;
-        _previousRotationFromServer = rotation;
-        _dirtyFlags |= EntityItem::DIRTY_POSITION;
     }
 }
 
@@ -1161,20 +1151,15 @@ void EntityItem::updateVelocityInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updateVelocity(const glm::vec3& value) { 
-    if (/* false && */ value == _previousVelocityFromServer) {
-        if (glm::length(value) < MIN_VELOCITY_DELTA) {
-            _velocity = ENTITY_ITEM_ZERO_VEC3;
-        } else {
-            _velocity = value;
-        }
-    } else if (glm::distance(_velocity, value) > MIN_VELOCITY_DELTA) {
-        if (glm::length(value) < MIN_VELOCITY_DELTA) {
-            _velocity = ENTITY_ITEM_ZERO_VEC3;
-        } else {
-            _velocity = value;
-        }
-        _previousVelocityFromServer = value;
+    if (value != _velocity) {
+        auto distance = glm::distance(_velocity, value);
+        // _dirtyFlags |= (distance > MIN_VELOCITY_DELTA) ? EntityItem::DIRTY_VELOCITY : EntityItem::DIRTY_PHYSICS_NO_WAKE;
         _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
+        if (distance < MIN_VELOCITY_DELTA) {
+            _velocity = ENTITY_ITEM_ZERO_VEC3;
+        } else {
+            _velocity = value;
+        }
     }
 }
 
@@ -1191,39 +1176,36 @@ void EntityItem::updateGravityInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updateGravity(const glm::vec3& value) { 
-    if (/* false && */ value == _previousGravityFromServer) {
-        _gravity = value;
-    } else if (glm::distance(_gravity, value) > MIN_GRAVITY_DELTA) {
-        _gravity = value;
-        _previousGravityFromServer = value;
+    auto distance = glm::distance(_gravity, value);
+    // if (value != _gravity) {
+    if (distance > MIN_GRAVITY_DELTA) {
+        // _dirtyFlags |= (distance > MIN_GRAVITY_DELTA) ? EntityItem::DIRTY_VELOCITY : EntityItem::DIRTY_PHYSICS_NO_WAKE;
         _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
+        _gravity = value;
     }
 }
 
 void EntityItem::updateAcceleration(const glm::vec3& value) { 
-    if (/* false && */ value == _previousAccelerationFromServer) {
-        _acceleration = value;
-    } else if (glm::distance(_acceleration, value) > MIN_ACCELERATION_DELTA) {
-        _acceleration = value;
-        _previousAccelerationFromServer = value;
+    auto distance = glm::distance(_acceleration, value);
+    // if (value != _acceleration) {
+    if (distance > MIN_ACCELERATION_DELTA) {
+        // _dirtyFlags |= (distance > MIN_ACCELERATION_DELTA) ? EntityItem::DIRTY_VELOCITY : EntityItem::DIRTY_PHYSICS_NO_WAKE;
         _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
+        _acceleration = value;
     }
 }
 
 void EntityItem::updateAngularVelocity(const glm::vec3& value) { 
-    if (/* false && */ value == _previousAngularVelocityFromServer) {
-        if (glm::length(value) < MIN_SPIN_DELTA) {
-            _angularVelocity = ENTITY_ITEM_ZERO_VEC3;
-        } else {
-            _angularVelocity = value;
-        }
-    } else if (glm::distance(_angularVelocity, value) > MIN_SPIN_DELTA) {
-        if (glm::length(value) < MIN_SPIN_DELTA) {
-            _angularVelocity = ENTITY_ITEM_ZERO_VEC3;
-        } else {
-            _angularVelocity = value;
-        }
+    auto distance = glm::distance(_angularVelocity, value);
+    // if (value != _angularVelocity) {
+    if (distance > MIN_SPIN_DELTA) {
+        // _dirtyFlags |= (distance > MIN_SPIN_DELTA) ? EntityItem::DIRTY_VELOCITY : EntityItem::DIRTY_PHYSICS_NO_WAKE;
         _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
+        if (glm::length(value) < MIN_SPIN_DELTA) {
+            _angularVelocity = ENTITY_ITEM_ZERO_VEC3;
+        } else {
+            _angularVelocity = value;
+        }
     }
 }
 
diff --git a/libraries/entities/src/EntityItem.h b/libraries/entities/src/EntityItem.h
index e726e5b11b..890134828a 100644
--- a/libraries/entities/src/EntityItem.h
+++ b/libraries/entities/src/EntityItem.h
@@ -55,7 +55,7 @@ public:
         DIRTY_SHAPE = 0x0020,
         DIRTY_LIFETIME = 0x0040,
         DIRTY_UPDATEABLE = 0x0080,
-        DIRTY_TWEAK = 0x0100
+        DIRTY_PHYSICS_NO_WAKE = 0x0100 // we want to update values in physics engine without "waking" the object up
     };
 
     DONT_ALLOW_INSTANTIATION // This class can not be instantiated directly
@@ -369,13 +369,6 @@ protected:
     uint32_t _dirtyFlags;   // things that have changed from EXTERNAL changes (via script or packet) but NOT from simulation
 
     EntityTreeElement* _element;    // back pointer to containing Element
-
-    glm::vec3 _previousPositionFromServer;
-    glm::quat _previousRotationFromServer;
-    glm::vec3 _previousVelocityFromServer;
-    glm::vec3 _previousAngularVelocityFromServer;
-    glm::vec3 _previousGravityFromServer;
-    glm::vec3 _previousAccelerationFromServer;
 };
 
 
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index d0c362b852..5e863030c5 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -132,7 +132,7 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
 }
 
 void EntityMotionState::updateObjectEasy(uint32_t flags, uint32_t step) {
-    if (flags & (EntityItem::DIRTY_POSITION | EntityItem::DIRTY_VELOCITY)) {
+    if (flags & (EntityItem::DIRTY_POSITION | EntityItem::DIRTY_VELOCITY | EntityItem::DIRTY_PHYSICS_NO_WAKE)) {
         if (flags & EntityItem::DIRTY_POSITION) {
             _sentPosition = _entity->getPosition() - ObjectMotionState::getWorldOffset();
             btTransform worldTrans;
@@ -147,6 +147,10 @@ void EntityMotionState::updateObjectEasy(uint32_t flags, uint32_t step) {
             updateObjectVelocities();
         }
         _sentStep = step;
+
+        if (flags & (EntityItem::DIRTY_POSITION | EntityItem::DIRTY_VELOCITY)) {
+            _body->activate();
+        }
     }
 
     // TODO: entity support for friction and restitution
@@ -166,7 +170,6 @@ void EntityMotionState::updateObjectEasy(uint32_t flags, uint32_t step) {
         _body->setMassProps(mass, inertia);
         _body->updateInertiaTensor();
     }
-    _body->activate();
 };
 
 void EntityMotionState::updateObjectVelocities() {

From 03706359f5898b4c81797f104e36a5fb0e974b9f Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 17:44:52 -0700
Subject: [PATCH 17/25] cleanups

---
 libraries/entities/src/EntityItem.cpp | 17 ++++-------------
 1 file changed, 4 insertions(+), 13 deletions(-)

diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index 243958b4a8..06a0cc52c2 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -1151,9 +1151,8 @@ void EntityItem::updateVelocityInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updateVelocity(const glm::vec3& value) { 
-    if (value != _velocity) {
-        auto distance = glm::distance(_velocity, value);
-        // _dirtyFlags |= (distance > MIN_VELOCITY_DELTA) ? EntityItem::DIRTY_VELOCITY : EntityItem::DIRTY_PHYSICS_NO_WAKE;
+    auto distance = glm::distance(_velocity, value);
+    if (distance > MIN_VELOCITY_DELTA) {
         _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
         if (distance < MIN_VELOCITY_DELTA) {
             _velocity = ENTITY_ITEM_ZERO_VEC3;
@@ -1176,20 +1175,14 @@ void EntityItem::updateGravityInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updateGravity(const glm::vec3& value) { 
-    auto distance = glm::distance(_gravity, value);
-    // if (value != _gravity) {
-    if (distance > MIN_GRAVITY_DELTA) {
-        // _dirtyFlags |= (distance > MIN_GRAVITY_DELTA) ? EntityItem::DIRTY_VELOCITY : EntityItem::DIRTY_PHYSICS_NO_WAKE;
+    if (glm::distance(_gravity, value) > MIN_GRAVITY_DELTA) {
         _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
         _gravity = value;
     }
 }
 
 void EntityItem::updateAcceleration(const glm::vec3& value) { 
-    auto distance = glm::distance(_acceleration, value);
-    // if (value != _acceleration) {
-    if (distance > MIN_ACCELERATION_DELTA) {
-        // _dirtyFlags |= (distance > MIN_ACCELERATION_DELTA) ? EntityItem::DIRTY_VELOCITY : EntityItem::DIRTY_PHYSICS_NO_WAKE;
+    if (glm::distance(_acceleration, value) > MIN_ACCELERATION_DELTA) {
         _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
         _acceleration = value;
     }
@@ -1197,9 +1190,7 @@ void EntityItem::updateAcceleration(const glm::vec3& value) {
 
 void EntityItem::updateAngularVelocity(const glm::vec3& value) { 
     auto distance = glm::distance(_angularVelocity, value);
-    // if (value != _angularVelocity) {
     if (distance > MIN_SPIN_DELTA) {
-        // _dirtyFlags |= (distance > MIN_SPIN_DELTA) ? EntityItem::DIRTY_VELOCITY : EntityItem::DIRTY_PHYSICS_NO_WAKE;
         _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
         if (glm::length(value) < MIN_SPIN_DELTA) {
             _angularVelocity = ENTITY_ITEM_ZERO_VEC3;

From ac46f84291d9325b0b41124eae6159ed6cfff76e Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 24 Apr 2015 18:36:41 -0700
Subject: [PATCH 18/25] cleanups

---
 .../entities-renderer/src/EntityTreeRenderer.cpp | 15 ---------------
 .../src/RenderableModelEntityItem.cpp            | 16 ++++------------
 libraries/entities/src/EntityItem.cpp            | 11 +++++------
 3 files changed, 9 insertions(+), 33 deletions(-)

diff --git a/libraries/entities-renderer/src/EntityTreeRenderer.cpp b/libraries/entities-renderer/src/EntityTreeRenderer.cpp
index fbfa882494..586e9a50ad 100644
--- a/libraries/entities-renderer/src/EntityTreeRenderer.cpp
+++ b/libraries/entities-renderer/src/EntityTreeRenderer.cpp
@@ -677,26 +677,11 @@ void EntityTreeRenderer::renderElement(OctreeElement* element, RenderArgs* args)
                     if (bigEnoughToRender) {
                         renderProxies(entityItem, args);
 
-
-                        // XXX
-                        // auto nodeList = DependencyManager::get<NodeList>();
-                        // const QUuid& myNodeID = nodeList->getSessionUUID();
-                        // XXX
-
-
                         Glower* glower = NULL;
                         if (entityItem->getGlowLevel() > 0.0f) {
                             glower = new Glower(entityItem->getGlowLevel());
                         }
 
-                        // XXX glow things we are simulating
-                        // if (entityItem->getSimulatorID() == myNodeID) {
-                        //     if (glower) delete glower;
-                        //     glower = new Glower();
-                        // }
-                        // XXX glow things we are simulating
-
-
                         entityItem->render(args);
                         args->_itemsRendered++;
                         if (glower) {
diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index c4e12eb957..25922bed10 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -119,25 +119,17 @@ void RenderableModelEntityItem::render(RenderArgs* args) {
     glm::vec3 dimensions = getDimensions();
     float size = glm::length(dimensions);
 
-    // XXX
-    auto nodeList = DependencyManager::get<NodeList>();
-    const QUuid& myNodeID = nodeList->getSessionUUID();
-    // XXX
-    
+    auto nodeList = DependencyManager::get<NodeList>(); // XXX for debugging
+    const QUuid& myNodeID = nodeList->getSessionUUID(); // XXX for debugging
+
     if (drawAsModel
-        && getSimulatorID() != myNodeID // XXX
+        && getSimulatorID() != myNodeID // XXX for debugging
         ) {
         remapTextures();
         glPushMatrix();
         {
             float alpha = getLocalRenderAlpha();
 
-            // XXX
-            // if (getSimulatorID() == myNodeID) {
-            //     alpha = 1.0;
-            // }
-            // XXX
-
             if (!_model || _needsModelReload) {
                 // TODO: this getModel() appears to be about 3% of model render time. We should optimize
                 PerformanceTimer perfTimer("getModel");
diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index 06a0cc52c2..5552013ca2 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -1151,14 +1151,13 @@ void EntityItem::updateVelocityInDomainUnits(const glm::vec3& value) {
 }
 
 void EntityItem::updateVelocity(const glm::vec3& value) { 
-    auto distance = glm::distance(_velocity, value);
-    if (distance > MIN_VELOCITY_DELTA) {
-        _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
-        if (distance < MIN_VELOCITY_DELTA) {
+    if (glm::distance(_velocity, value) > MIN_VELOCITY_DELTA) {
+        if (glm::length(value) < MIN_VELOCITY_DELTA) {
             _velocity = ENTITY_ITEM_ZERO_VEC3;
         } else {
             _velocity = value;
         }
+        _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
     }
 }
 
@@ -1176,15 +1175,15 @@ void EntityItem::updateGravityInDomainUnits(const glm::vec3& value) {
 
 void EntityItem::updateGravity(const glm::vec3& value) { 
     if (glm::distance(_gravity, value) > MIN_GRAVITY_DELTA) {
-        _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
         _gravity = value;
+        _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
     }
 }
 
 void EntityItem::updateAcceleration(const glm::vec3& value) { 
     if (glm::distance(_acceleration, value) > MIN_ACCELERATION_DELTA) {
-        _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
         _acceleration = value;
+        _dirtyFlags |= EntityItem::DIRTY_VELOCITY;
     }
 }
 

From 48ec0c833908ba73fc41f6ea9bec6ad81a0583d7 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Sat, 25 Apr 2015 06:56:19 -0700
Subject: [PATCH 19/25] formatting, re-enable code that causes an interface to
 attempt to claim a moving object with no current simulation-owner

---
 libraries/entities-renderer/src/EntityTreeRenderer.cpp | 1 -
 libraries/physics/src/EntityMotionState.cpp            | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/entities-renderer/src/EntityTreeRenderer.cpp b/libraries/entities-renderer/src/EntityTreeRenderer.cpp
index 586e9a50ad..dde13552f3 100644
--- a/libraries/entities-renderer/src/EntityTreeRenderer.cpp
+++ b/libraries/entities-renderer/src/EntityTreeRenderer.cpp
@@ -681,7 +681,6 @@ void EntityTreeRenderer::renderElement(OctreeElement* element, RenderArgs* args)
                         if (entityItem->getGlowLevel() > 0.0f) {
                             glower = new Glower(entityItem->getGlowLevel());
                         }
-
                         entityItem->render(args);
                         args->_itemsRendered++;
                         if (glower) {
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 5e863030c5..31e615249c 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -116,7 +116,7 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
 
     if (_entity->getSimulatorID().isNull() && isMoving()) {
         // object is moving and has no owner.  attempt to claim simulation ownership.
-        // setShouldClaimSimulationOwnership(true);
+        setShouldClaimSimulationOwnership(true);
     }
 
     _outgoingPacketFlags = DIRTY_PHYSICS_FLAGS;

From 81ff8a4448e85e1cabefb5a8e12b3a0ecaaa7a9a Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Sat, 25 Apr 2015 07:17:21 -0700
Subject: [PATCH 20/25] count steps during which an EntityItem is moving but
 has no simulation owner.  Once the count is high enough (how high is TBD),
 attempt to claim ownership

---
 libraries/physics/src/EntityMotionState.cpp | 9 ++++++++-
 libraries/physics/src/EntityMotionState.h   | 1 +
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 31e615249c..c722336ca2 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -38,7 +38,8 @@ void EntityMotionState::enqueueOutgoingEntity(EntityItem* entity) {
 EntityMotionState::EntityMotionState(EntityItem* entity) :
     _entity(entity),
     _accelerationNearlyGravityCount(0),
-    _shouldClaimSimulationOwnership(false)
+    _shouldClaimSimulationOwnership(false),
+    _movingStepsWithoutSimulationOwner(0)
 {
     _type = MOTION_STATE_TYPE_ENTITY;
     assert(entity != NULL);
@@ -116,6 +117,12 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
 
     if (_entity->getSimulatorID().isNull() && isMoving()) {
         // object is moving and has no owner.  attempt to claim simulation ownership.
+        _movingStepsWithoutSimulationOwner++;
+    } else {
+        _movingStepsWithoutSimulationOwner = 0;
+    }
+
+    if (_movingStepsWithoutSimulationOwner > 4) { // XXX maybe meters from our characterController ?
         setShouldClaimSimulationOwnership(true);
     }
 
diff --git a/libraries/physics/src/EntityMotionState.h b/libraries/physics/src/EntityMotionState.h
index 07f82aaa42..087d5b49b9 100644
--- a/libraries/physics/src/EntityMotionState.h
+++ b/libraries/physics/src/EntityMotionState.h
@@ -74,6 +74,7 @@ protected:
     EntityItem* _entity;
     quint8 _accelerationNearlyGravityCount;
     bool _shouldClaimSimulationOwnership;
+    quint32 _movingStepsWithoutSimulationOwner;
 };
 
 #endif // hifi_EntityMotionState_h

From e00761711206213e4e2cf4ce8dd16ea497a396b8 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Mon, 27 Apr 2015 09:56:24 -0700
Subject: [PATCH 21/25] hook up menu-items to control debug rendering of
 collision hulls and owned simulations

---
 interface/src/Application.cpp                 | 26 +++++++++----------
 interface/src/Menu.cpp                        |  5 ++++
 interface/src/Menu.h                          |  2 ++
 .../src/EntityTreeRenderer.cpp                |  7 ++---
 .../src/EntityTreeRenderer.h                  |  3 ++-
 .../src/RenderableModelEntityItem.cpp         | 12 +++++----
 libraries/entities/src/EntityItem.cpp         |  1 +
 libraries/octree/src/OctreeRenderer.cpp       |  6 +++--
 libraries/octree/src/OctreeRenderer.h         |  3 ++-
 libraries/render-utils/src/Model.cpp          |  4 +--
 libraries/shared/src/RenderArgs.h             |  9 ++++++-
 11 files changed, 50 insertions(+), 28 deletions(-)

diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index 95700f3257..c6c9514cc2 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -164,8 +164,6 @@ const QString SKIP_FILENAME = QStandardPaths::writableLocation(QStandardPaths::D
 
 const QString DEFAULT_SCRIPTS_JS_URL = "http://s3.amazonaws.com/hifi-public/scripts/defaultScripts.js";
 
-bool renderCollisionHulls = false;
-
 #ifdef Q_OS_WIN
 class MyNativeEventFilter : public QAbstractNativeEventFilter {
 public:
@@ -1280,11 +1278,6 @@ void Application::keyPressEvent(QKeyEvent* event) {
                 break;
             }
 
-            case Qt::Key_Comma: {
-                renderCollisionHulls = !renderCollisionHulls;
-                break;
-            }
-
             default:
                 event->ignore();
                 break;
@@ -3110,13 +3103,20 @@ void Application::displaySide(Camera& theCamera, bool selfAvatarOnly, RenderArgs
             PerformanceTimer perfTimer("entities");
             PerformanceWarning warn(Menu::getInstance()->isOptionChecked(MenuOption::PipelineWarnings),
                 "Application::displaySide() ... entities...");
-            if (renderCollisionHulls) {
-                _entities.render(RenderArgs::DEBUG_RENDER_MODE, renderSide);
-            } else if (theCamera.getMode() == CAMERA_MODE_MIRROR) {
-                _entities.render(RenderArgs::MIRROR_RENDER_MODE, renderSide);
-            } else {
-                _entities.render(RenderArgs::DEFAULT_RENDER_MODE, renderSide);
+
+            RenderArgs::DebugFlags renderDebugFlags = 0;
+            RenderArgs::RenderMode renderMode = RenderArgs::DEFAULT_RENDER_MODE;
+
+            if (Menu::getInstance()->isOptionChecked(MenuOption::PhysicsShowHulls)) {
+                renderDebugFlags |= RenderArgs::RENDER_DEBUG_HULLS;
             }
+            if (Menu::getInstance()->isOptionChecked(MenuOption::PhysicsShowOwned)) {
+                renderDebugFlags |= RenderArgs::RENDER_DEBUG_SIMULATION_OWNERSHIP;
+            }
+            if (theCamera.getMode() == CAMERA_MODE_MIRROR) {
+                renderMode = RenderArgs::MIRROR_RENDER_MODE;
+            }
+            _entities.render(renderMode, renderSide, renderDebugFlags);
         }
 
         // render JS/scriptable overlays
diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index 9b9e93a4c9..43c63eb383 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -549,6 +549,11 @@ Menu::Menu() {
                                             statsRenderer.data(),
                                             SLOT(toggleShowInjectedStreams()));
 
+
+    QMenu* physicsOptionsMenu = developerMenu->addMenu("Physics");
+    addCheckableActionToQMenuAndActionHash(physicsOptionsMenu, MenuOption::PhysicsShowOwned);
+    addCheckableActionToQMenuAndActionHash(physicsOptionsMenu, MenuOption::PhysicsShowHulls);
+
     QMenu* helpMenu = addMenu("Help");
     addActionToQMenuAndActionHash(helpMenu, MenuOption::EditEntitiesHelp, 0, qApp, SLOT(showEditEntitiesHelp()));
 
diff --git a/interface/src/Menu.h b/interface/src/Menu.h
index 5a162d31bc..2c4e2b809f 100644
--- a/interface/src/Menu.h
+++ b/interface/src/Menu.h
@@ -187,6 +187,8 @@ namespace MenuOption {
     const QString OnlyDisplayTopTen = "Only Display Top Ten";
     const QString PackageModel = "Package Model...";
     const QString Pair = "Pair";
+    const QString PhysicsShowOwned = "Highlight Simulation Ownership";
+    const QString PhysicsShowHulls = "Draw Collision Hulls";
     const QString PipelineWarnings = "Log Render Pipeline Warnings";
     const QString Preferences = "Preferences...";
     const QString Quit =  "Quit";
diff --git a/libraries/entities-renderer/src/EntityTreeRenderer.cpp b/libraries/entities-renderer/src/EntityTreeRenderer.cpp
index c744ec0165..5141ef3437 100644
--- a/libraries/entities-renderer/src/EntityTreeRenderer.cpp
+++ b/libraries/entities-renderer/src/EntityTreeRenderer.cpp
@@ -383,7 +383,9 @@ void EntityTreeRenderer::leaveAllEntities() {
         _lastAvatarPosition = _viewState->getAvatarPosition() + glm::vec3((float)TREE_SCALE);
     }
 }
-void EntityTreeRenderer::render(RenderArgs::RenderMode renderMode, RenderArgs::RenderSide renderSide) {
+void EntityTreeRenderer::render(RenderArgs::RenderMode renderMode,
+                                RenderArgs::RenderSide renderSide,
+                                RenderArgs::DebugFlags renderDebugFlags) {
     if (_tree && !_shuttingDown) {
         Model::startScene(renderSide);
 
@@ -391,8 +393,7 @@ void EntityTreeRenderer::render(RenderArgs::RenderMode renderMode, RenderArgs::R
             _viewState->getShadowViewFrustum() : _viewState->getCurrentViewFrustum();
 
         RenderArgs args = { this, frustum, getSizeScale(), getBoundaryLevelAdjust(), renderMode, renderSide,
-                                            0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
-
+                            renderDebugFlags, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
 
         _tree->lockForRead();
 
diff --git a/libraries/entities-renderer/src/EntityTreeRenderer.h b/libraries/entities-renderer/src/EntityTreeRenderer.h
index 8f720e5e48..20534c3e2b 100644
--- a/libraries/entities-renderer/src/EntityTreeRenderer.h
+++ b/libraries/entities-renderer/src/EntityTreeRenderer.h
@@ -58,7 +58,8 @@ public:
 
     virtual void init();
     virtual void render(RenderArgs::RenderMode renderMode = RenderArgs::DEFAULT_RENDER_MODE, 
-                                        RenderArgs::RenderSide renderSide = RenderArgs::MONO);
+                        RenderArgs::RenderSide renderSide = RenderArgs::MONO,
+                        RenderArgs::DebugFlags renderDebugFlags = RenderArgs::RENDER_DEBUG_NONE);
 
     virtual const FBXGeometry* getGeometryForEntity(const EntityItem* entityItem);
     virtual const Model* getModelForEntityItem(const EntityItem* entityItem);
diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index 25922bed10..b9bf1d39a8 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -119,12 +119,14 @@ void RenderableModelEntityItem::render(RenderArgs* args) {
     glm::vec3 dimensions = getDimensions();
     float size = glm::length(dimensions);
 
-    auto nodeList = DependencyManager::get<NodeList>(); // XXX for debugging
-    const QUuid& myNodeID = nodeList->getSessionUUID(); // XXX for debugging
+    bool highlightSimulationOwnership = false;
+    if (args->_debugFlags & RenderArgs::RENDER_DEBUG_SIMULATION_OWNERSHIP) {
+        auto nodeList = DependencyManager::get<NodeList>();
+        const QUuid& myNodeID = nodeList->getSessionUUID();
+        highlightSimulationOwnership = (getSimulatorID() == myNodeID);
+    }
 
-    if (drawAsModel
-        && getSimulatorID() != myNodeID // XXX for debugging
-        ) {
+    if (drawAsModel && !highlightSimulationOwnership) {
         remapTextures();
         glPushMatrix();
         {
diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index 03ff2f1a79..5552013ca2 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -1085,6 +1085,7 @@ const float MIN_ALIGNMENT_DOT = 0.999999f;
 const float MIN_VELOCITY_DELTA = 0.01f;
 const float MIN_DAMPING_DELTA = 0.001f;
 const float MIN_GRAVITY_DELTA = 0.001f;
+const float MIN_ACCELERATION_DELTA = 0.001f;
 const float MIN_SPIN_DELTA = 0.0003f;
 
 void EntityItem::updatePositionInDomainUnits(const glm::vec3& value) { 
diff --git a/libraries/octree/src/OctreeRenderer.cpp b/libraries/octree/src/OctreeRenderer.cpp
index ae40cbfa15..346d7c43f6 100644
--- a/libraries/octree/src/OctreeRenderer.cpp
+++ b/libraries/octree/src/OctreeRenderer.cpp
@@ -164,9 +164,11 @@ bool OctreeRenderer::renderOperation(OctreeElement* element, void* extraData) {
     return false;
 }
 
-void OctreeRenderer::render(RenderArgs::RenderMode renderMode, RenderArgs::RenderSide renderSide) {
+void OctreeRenderer::render(RenderArgs::RenderMode renderMode,
+                            RenderArgs::RenderSide renderSide,
+                            RenderArgs::DebugFlags renderDebugFlags) {
     RenderArgs args = { this, _viewFrustum, getSizeScale(), getBoundaryLevelAdjust(), renderMode, renderSide, 
-                                        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+                        renderDebugFlags, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
     if (_tree) {
         _tree->lockForRead();
         _tree->recurseTreeWithOperation(renderOperation, &args);
diff --git a/libraries/octree/src/OctreeRenderer.h b/libraries/octree/src/OctreeRenderer.h
index 4ee0865243..ca0914723f 100644
--- a/libraries/octree/src/OctreeRenderer.h
+++ b/libraries/octree/src/OctreeRenderer.h
@@ -52,7 +52,8 @@ public:
 
     /// render the content of the octree
     virtual void render(RenderArgs::RenderMode renderMode = RenderArgs::DEFAULT_RENDER_MODE, 
-                                RenderArgs::RenderSide renderSide = RenderArgs::MONO);
+                        RenderArgs::RenderSide renderSide = RenderArgs::MONO,
+                        RenderArgs::DebugFlags renderDebugFlags = RenderArgs::RENDER_DEBUG_NONE);
 
     ViewFrustum* getViewFrustum() const { return _viewFrustum; }
     void setViewFrustum(ViewFrustum* viewFrustum) { _viewFrustum = viewFrustum; }
diff --git a/libraries/render-utils/src/Model.cpp b/libraries/render-utils/src/Model.cpp
index fe82af6b3c..3508570d6a 100644
--- a/libraries/render-utils/src/Model.cpp
+++ b/libraries/render-utils/src/Model.cpp
@@ -1947,14 +1947,14 @@ bool Model::renderInScene(float alpha, RenderArgs* args) {
         return false;
     }
 
-    if (args->_renderMode == RenderArgs::DEBUG_RENDER_MODE && _renderCollisionHull == false) {
+    if (args->_debugFlags == RenderArgs::RENDER_DEBUG_HULLS && _renderCollisionHull == false) {
         // turning collision hull rendering on
         _renderCollisionHull = true;
         _nextGeometry = _collisionGeometry;
         _saveNonCollisionGeometry = _geometry;
         updateGeometry();
         simulate(0.0, true);
-    } else if (args->_renderMode != RenderArgs::DEBUG_RENDER_MODE && _renderCollisionHull == true) {
+    } else if (args->_debugFlags != RenderArgs::RENDER_DEBUG_HULLS && _renderCollisionHull == true) {
         // turning collision hull rendering off
         _renderCollisionHull = false;
         _nextGeometry = _saveNonCollisionGeometry;
diff --git a/libraries/shared/src/RenderArgs.h b/libraries/shared/src/RenderArgs.h
index 116fc430c2..bc3e2edb6d 100644
--- a/libraries/shared/src/RenderArgs.h
+++ b/libraries/shared/src/RenderArgs.h
@@ -17,16 +17,23 @@ class OctreeRenderer;
 
 class RenderArgs {
 public:
-    enum RenderMode { DEFAULT_RENDER_MODE, SHADOW_RENDER_MODE, DIFFUSE_RENDER_MODE, NORMAL_RENDER_MODE, MIRROR_RENDER_MODE, DEBUG_RENDER_MODE };
+    enum RenderMode { DEFAULT_RENDER_MODE, SHADOW_RENDER_MODE, DIFFUSE_RENDER_MODE, NORMAL_RENDER_MODE, MIRROR_RENDER_MODE };
 
     enum RenderSide { MONO, STEREO_LEFT, STEREO_RIGHT };
 
+    enum DebugFlags {
+        RENDER_DEBUG_NONE=0,
+        RENDER_DEBUG_HULLS=1,
+        RENDER_DEBUG_SIMULATION_OWNERSHIP=2
+    };
+
     OctreeRenderer* _renderer;
     ViewFrustum* _viewFrustum;
     float _sizeScale;
     int _boundaryLevelAdjust;
     RenderMode _renderMode;
     RenderSide _renderSide;
+    DebugFlags _debugFlags;
 
     int _elementsTouched;
     int _itemsRendered;

From b23427a3c805ae5225d5db721c46925c0959faa3 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Mon, 27 Apr 2015 10:32:47 -0700
Subject: [PATCH 22/25] hook up menu-items to control debug rendering of
 collision hulls and owned simulations

---
 interface/src/Application.cpp          | 7 ++++---
 interface/src/ui/overlays/Overlays.cpp | 9 ++++++---
 interface/src/ui/overlays/Overlays.h   | 3 ++-
 3 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index c6c9514cc2..c279a345ef 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -3104,14 +3104,15 @@ void Application::displaySide(Camera& theCamera, bool selfAvatarOnly, RenderArgs
             PerformanceWarning warn(Menu::getInstance()->isOptionChecked(MenuOption::PipelineWarnings),
                 "Application::displaySide() ... entities...");
 
-            RenderArgs::DebugFlags renderDebugFlags = 0;
+            RenderArgs::DebugFlags renderDebugFlags = RenderArgs::RENDER_DEBUG_NONE;
             RenderArgs::RenderMode renderMode = RenderArgs::DEFAULT_RENDER_MODE;
 
             if (Menu::getInstance()->isOptionChecked(MenuOption::PhysicsShowHulls)) {
-                renderDebugFlags |= RenderArgs::RENDER_DEBUG_HULLS;
+                renderDebugFlags = (RenderArgs::DebugFlags) (renderDebugFlags | (int) RenderArgs::RENDER_DEBUG_HULLS);
             }
             if (Menu::getInstance()->isOptionChecked(MenuOption::PhysicsShowOwned)) {
-                renderDebugFlags |= RenderArgs::RENDER_DEBUG_SIMULATION_OWNERSHIP;
+                renderDebugFlags =
+                    (RenderArgs::DebugFlags) (renderDebugFlags | (int) RenderArgs::RENDER_DEBUG_SIMULATION_OWNERSHIP);
             }
             if (theCamera.getMode() == CAMERA_MODE_MIRROR) {
                 renderMode = RenderArgs::MIRROR_RENDER_MODE;
diff --git a/interface/src/ui/overlays/Overlays.cpp b/interface/src/ui/overlays/Overlays.cpp
index 191f3f4a99..a9eb9184dd 100644
--- a/interface/src/ui/overlays/Overlays.cpp
+++ b/interface/src/ui/overlays/Overlays.cpp
@@ -90,7 +90,7 @@ void Overlays::renderHUD() {
     RenderArgs args = { NULL, Application::getInstance()->getViewFrustum(),
                         lodManager->getOctreeSizeScale(),
                         lodManager->getBoundaryLevelAdjust(),
-                        RenderArgs::DEFAULT_RENDER_MODE, RenderArgs::MONO,
+                        RenderArgs::DEFAULT_RENDER_MODE, RenderArgs::MONO, RenderArgs::RENDER_DEBUG_NONE,
                         0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
 
     foreach(Overlay* thisOverlay, _overlaysHUD) {
@@ -108,7 +108,10 @@ void Overlays::renderHUD() {
     }
 }
 
-void Overlays::renderWorld(bool drawFront, RenderArgs::RenderMode renderMode, RenderArgs::RenderSide renderSide) {
+void Overlays::renderWorld(bool drawFront,
+                           RenderArgs::RenderMode renderMode,
+                           RenderArgs::RenderSide renderSide,
+                           RenderArgs::DebugFlags renderDebugFlags) {
     QReadLocker lock(&_lock);
     if (_overlaysWorld.size() == 0) {
         return;
@@ -125,7 +128,7 @@ void Overlays::renderWorld(bool drawFront, RenderArgs::RenderMode renderMode, Re
     RenderArgs args = { NULL, Application::getInstance()->getDisplayViewFrustum(),
                         lodManager->getOctreeSizeScale(),
                         lodManager->getBoundaryLevelAdjust(),
-                        renderMode, renderSide,
+                        renderMode, renderSide, renderDebugFlags,
                         0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
     
 
diff --git a/interface/src/ui/overlays/Overlays.h b/interface/src/ui/overlays/Overlays.h
index 42227d04f6..04e306097b 100644
--- a/interface/src/ui/overlays/Overlays.h
+++ b/interface/src/ui/overlays/Overlays.h
@@ -54,7 +54,8 @@ public:
     void init();
     void update(float deltatime);
     void renderWorld(bool drawFront, RenderArgs::RenderMode renderMode = RenderArgs::DEFAULT_RENDER_MODE,
-                        RenderArgs::RenderSide renderSide = RenderArgs::MONO);
+                     RenderArgs::RenderSide renderSide = RenderArgs::MONO,
+                     RenderArgs::DebugFlags renderDebugFlags = RenderArgs::RENDER_DEBUG_NONE);
     void renderHUD();
 
 public slots:

From 8278f52a7978858a27b6117c804f9a477199eaf7 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Mon, 27 Apr 2015 10:59:51 -0700
Subject: [PATCH 23/25] cleanups

---
 libraries/physics/src/EntityMotionState.cpp | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index c722336ca2..4c61503d49 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -219,7 +219,7 @@ bool EntityMotionState::shouldSendUpdate(uint32_t simulationFrame) {
     const QUuid& myNodeID = nodeList->getSessionUUID();
     const QUuid& simulatorID = _entity->getSimulatorID();
 
-    if (simulatorID != myNodeID /* && !simulatorID.isNull() */) {
+    if (simulatorID != myNodeID) {
         // some other Node owns the simulating of this, so don't broadcast the results of local simulation.
         return false;
     }
@@ -302,13 +302,7 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
         QUuid myNodeID = nodeList->getSessionUUID();
         QUuid simulatorID = _entity->getSimulatorID();
 
-        // if (simulatorID.isNull() && !(zeroSpeed && zeroSpin)) {
-        //     // the entity is moving and no node has claimed simulation ownership.  try to claim it.
-        //     setShouldClaimSimulationOwnership(true);
-        // }
-
         if (getShouldClaimSimulationOwnership()) {
-            // _entity->setSimulatorID(myNodeID);
             properties.setSimulatorID(myNodeID);
             setShouldClaimSimulationOwnership(false);
         } else if (simulatorID == myNodeID && zeroSpeed && zeroSpin) {

From e14b4c6ad4b9299f4b52d2da4676c7052ea8c10b Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Mon, 27 Apr 2015 11:01:48 -0700
Subject: [PATCH 24/25] cleanups

---
 libraries/physics/src/PhysicsEngine.cpp | 19 +------------------
 1 file changed, 1 insertion(+), 18 deletions(-)

diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index 6d0c9c878a..27ea816440 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -467,16 +467,6 @@ void PhysicsEngine::computeCollisionEvents() {
         if (type == CONTACT_EVENT_TYPE_END) {
             ContactMap::iterator iterToDelete = contactItr;
             ++contactItr;
-
-            // const ContactKey& contactKey = (*iterToDelete).first;
-            // const ObjectMotionState* objectMotionStateA = static_cast<ObjectMotionState*>(contactKey._a);
-            // const ObjectMotionState* objectMotionStateB = static_cast<ObjectMotionState*>(contactKey._b);
-            // const btCollisionObject* objectA =
-            //     objectMotionStateA ? static_cast<const btCollisionObject*>(objectMotionStateA->getRigidBody()) : NULL;
-            // const btCollisionObject* objectB =
-            //     objectMotionStateB ? static_cast<const btCollisionObject*>(objectMotionStateB->getRigidBody()) : NULL;
-            // doOwnershipInfection(objectA, objectB);
-
             _contactMap.erase(iterToDelete);
         } else {
             ++contactItr;
@@ -600,17 +590,10 @@ void PhysicsEngine::removeObjectFromBullet(ObjectMotionState* motionState) {
     assert(motionState);
     btRigidBody* body = motionState->getRigidBody();
 
-    // activate this before deleting it so that anything resting on it will begin to fall.
-    //
-    // body->activate();
-    //
-    // motionState->setShouldClaimSimulationOwnership(true);
-    // computeCollisionEvents();
-    //
+    // wake up anything touching this object
     EntityItem* entityItem = motionState ? motionState->getEntity() : NULL;
     bump(entityItem);
 
-
     if (body) {
         const btCollisionShape* shape = body->getCollisionShape();
         _dynamicsWorld->removeRigidBody(body);

From 2e5049a190e2278c8867ecc4afde620499f9e640 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Mon, 27 Apr 2015 12:20:01 -0700
Subject: [PATCH 25/25] fix bug caused by no-longer reusing a variable

---
 libraries/physics/src/EntityMotionState.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 4c61503d49..6338736a19 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -111,7 +111,7 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
 
     glm::vec3 av;
     getAngularVelocity(av);
-    _entity->setAngularVelocity(v);
+    _entity->setAngularVelocity(av);
 
     _entity->setLastSimulated(usecTimestampNow());