diff --git a/ice-server/CMakeLists.txt b/ice-server/CMakeLists.txt
index 24e780f9aa..6a8ca5bd9f 100644
--- a/ice-server/CMakeLists.txt
+++ b/ice-server/CMakeLists.txt
@@ -4,6 +4,6 @@ set(TARGET_NAME ice-server)
 setup_hifi_project(Network)
 
 # link the shared hifi libraries
-link_hifi_libraries(networking shared)
+link_hifi_libraries(embedded-webserver networking shared)
 
 include_dependency_includes()
\ No newline at end of file
diff --git a/ice-server/src/IceServer.cpp b/ice-server/src/IceServer.cpp
index c06bb0fc88..4648656e87 100644
--- a/ice-server/src/IceServer.cpp
+++ b/ice-server/src/IceServer.cpp
@@ -20,14 +20,18 @@
 const int CLEAR_INACTIVE_PEERS_INTERVAL_MSECS = 1 * 1000;
 const int PEER_SILENCE_THRESHOLD_MSECS = 5 * 1000;
 
+const quint16 ICE_SERVER_MONITORING_PORT = 40110;
+
 IceServer::IceServer(int argc, char* argv[]) :
 	QCoreApplication(argc, argv),
     _id(QUuid::createUuid()),
     _serverSocket(),
-    _activePeers()
+    _activePeers(),
+    _httpManager(ICE_SERVER_MONITORING_PORT, QString("%1/web/").arg(QCoreApplication::applicationDirPath()), this)
 {
     // start the ice-server socket
     qDebug() << "ice-server socket is listening on" << ICE_SERVER_DEFAULT_PORT;
+    qDebug() << "monitoring http endpoint is listening on " << ICE_SERVER_MONITORING_PORT;
     _serverSocket.bind(QHostAddress::AnyIPv4, ICE_SERVER_DEFAULT_PORT);
     
     // call our process datagrams slot when the UDP socket has packets ready
@@ -165,3 +169,28 @@ void IceServer::clearInactivePeers() {
         }
     }
 }
+
+bool IceServer::handleHTTPRequest(HTTPConnection* connection, const QUrl& url, bool skipSubHandler) {
+    //
+    // We need an HTTP handler in order to monitor the health of the ice server
+    // The correct functioning of the ICE server will first be determined by its HTTP availability,
+    // and then by the existence of a minimum number of peers in the list, matching the minimum number of
+    // domains in production by High Fidelity.
+    //
+    
+    int MINIMUM_PEERS = 3;
+    bool IS_HEALTHY = false;
+    
+    IS_HEALTHY = _activePeers.size() >= MINIMUM_PEERS ? true : false;
+    
+    if (connection->requestOperation() == QNetworkAccessManager::GetOperation) {
+        if (url.path() == "/status") {
+            if (IS_HEALTHY) {
+                connection->respond(HTTPConnection::StatusCode200, QByteArray::number(_activePeers.size()));
+            } else {
+                connection->respond(HTTPConnection::StatusCode404, QByteArray::number(_activePeers.size()));
+            }
+        }
+    }
+    return true;
+}
diff --git a/ice-server/src/IceServer.h b/ice-server/src/IceServer.h
index e15bda1211..be6d298e3d 100644
--- a/ice-server/src/IceServer.h
+++ b/ice-server/src/IceServer.h
@@ -12,17 +12,21 @@
 #ifndef hifi_IceServer_h
 #define hifi_IceServer_h
 
-#include <qcoreapplication.h>
-#include <qsharedpointer.h>
-#include <qudpsocket.h>
+#include <QtCore/QCoreApplication>
+#include <QtCore/QSharedPointer>
+#include <QUdpSocket>
 
 #include <NetworkPeer.h>
+#include <HTTPConnection.h>
+#include <HTTPManager.h>
 
 typedef QHash<QUuid, SharedNetworkPeer> NetworkPeerHash;
 
-class IceServer : public QCoreApplication {
+class IceServer : public QCoreApplication, public HTTPRequestHandler {
+    Q_OBJECT
 public:
     IceServer(int argc, char* argv[]);
+    bool handleHTTPRequest(HTTPConnection* connection, const QUrl& url, bool skipSubHandler = false);
 private slots:
     void processDatagrams();
     void clearInactivePeers();
@@ -34,6 +38,7 @@ private:
     QUdpSocket _serverSocket;
     NetworkPeerHash _activePeers;
     QHash<QUuid, QSet<QUuid> > _currentConnections;
+    HTTPManager _httpManager;
 };
 
 #endif // hifi_IceServer_h
\ No newline at end of file
diff --git a/libraries/physics/src/ObjectMotionState.cpp b/libraries/physics/src/ObjectMotionState.cpp
index cab36b8370..03f4c47bfa 100644
--- a/libraries/physics/src/ObjectMotionState.cpp
+++ b/libraries/physics/src/ObjectMotionState.cpp
@@ -108,6 +108,16 @@ bool ObjectMotionState::doesNotNeedToSendUpdate() const {
 
 bool ObjectMotionState::shouldSendUpdate(uint32_t simulationFrame) {
     assert(_body);
+    
+    // if we've never checked before, our _sentFrame will be 0, and we need to initialize our state
+    if (_sentFrame == 0) {
+        _sentPosition = bulletToGLM(_body->getWorldTransform().getOrigin());
+        _sentVelocity = bulletToGLM(_body->getLinearVelocity());
+        _sentAngularVelocity = bulletToGLM(_body->getAngularVelocity());
+        _sentFrame = simulationFrame;
+        return false;
+    }
+        
     float dt = (float)(simulationFrame - _sentFrame) * PHYSICS_ENGINE_FIXED_SUBSTEP;
     _sentFrame = simulationFrame;
     bool isActive = _body->isActive();