diff --git a/domain-server/src/DomainGatekeeper.cpp b/domain-server/src/DomainGatekeeper.cpp
index 90b22ffdd8..d360ab4802 100644
--- a/domain-server/src/DomainGatekeeper.cpp
+++ b/domain-server/src/DomainGatekeeper.cpp
@@ -226,7 +226,7 @@ SharedNodePointer DomainGatekeeper::processAgentConnectRequest(const NodeConnect
     // if the allowed editors list is empty then everyone can adjust locks
     bool canAdjustLocks = allowedEditors.empty();
     
-    if (allowedEditors.contains(username)) {
+    if (allowedEditors.contains(username, Qt::CaseInsensitive)) {
         // we have a non-empty allowed editors list - check if this user is verified to be in it
         if (!verifiedUsername) {
             if (!verifyUserSignature(username, usernameSignature, HifiSockAddr())) {
diff --git a/examples/libraries/entityCameraTool.js b/examples/libraries/entityCameraTool.js
index d304a6382e..88e01b29fe 100644
--- a/examples/libraries/entityCameraTool.js
+++ b/examples/libraries/entityCameraTool.js
@@ -564,12 +564,12 @@ CameraTool = function(cameraManager) {
 
     var ORIENTATION_OVERLAY_SIZE = 26;
     var ORIENTATION_OVERLAY_HALF_SIZE = ORIENTATION_OVERLAY_SIZE / 2;
-    var ORIENTATION_OVERLAY_CUBE_SIZE = 10.5,
+    var ORIENTATION_OVERLAY_CUBE_SIZE = 10.5;
 
-        var ORIENTATION_OVERLAY_OFFSET = {
-            x: 30,
-            y: 30,
-        }
+    var ORIENTATION_OVERLAY_OFFSET = {
+        x: 30,
+        y: 30,
+    }
 
     var UI_WIDTH = 70;
     var UI_HEIGHT = 70;
diff --git a/examples/libraries/soundArray.js b/examples/libraries/soundArray.js
index 813621fb4b..f59c88a723 100644
--- a/examples/libraries/soundArray.js
+++ b/examples/libraries/soundArray.js
@@ -6,7 +6,7 @@ SoundArray = function(audioOptions, autoUpdateAudioPosition) {
     this.audioOptions = audioOptions !== undefined ? audioOptions : {};
     this.autoUpdateAudioPosition = autoUpdateAudioPosition !== undefined ? autoUpdateAudioPosition : false;
     if (this.audioOptions.position === undefined) {
-        this.audioOptions.position = Vec3.sum(MyAvatar.position, { x: 0, y: 1, z: 0}),
+        this.audioOptions.position = Vec3.sum(MyAvatar.position, { x: 0, y: 1, z: 0});
     }
     if (this.audioOptions.volume === undefined) {
         this.audioOptions.volume = 1.0;
diff --git a/interface/CMakeLists.txt b/interface/CMakeLists.txt
index 00f6d2ecea..f9c92c59e7 100644
--- a/interface/CMakeLists.txt
+++ b/interface/CMakeLists.txt
@@ -96,7 +96,8 @@ else()
 endif()
 
 # link required hifi libraries
-link_hifi_libraries(shared octree environment gpu procedural  model render fbx networking model-networking entities avatars 
+link_hifi_libraries(shared octree environment gpu gl procedural model render 
+                    fbx networking model-networking entities avatars 
                     audio audio-client animation script-engine physics 
                     render-utils entities-renderer ui auto-updater 
                     plugins display-plugins input-plugins)
diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index 1b6be53876..eebd26c3c3 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -70,7 +70,7 @@
 #include <ObjectMotionState.h>
 #include <OctalCode.h>
 #include <OctreeSceneStats.h>
-#include <OffscreenGlCanvas.h>
+#include <gl/OffscreenGlCanvas.h>
 #include <PathUtils.h>
 #include <PerfStat.h>
 #include <PhysicsEngine.h>
@@ -2756,7 +2756,6 @@ void Application::update(float deltaTime) {
 
     {
         PerformanceTimer perfTimer("physics");
-        myAvatar->relayDriveKeysToCharacterController();
 
         static VectorOfMotionStates motionStates;
         _entitySimulation.getObjectsToDelete(motionStates);
@@ -2783,6 +2782,8 @@ void Application::update(float deltaTime) {
         avatarManager->getObjectsToChange(motionStates);
         _physicsEngine->changeObjects(motionStates);
 
+        myAvatar->prepareForPhysicsSimulation();
+
         _entities.getTree()->withWriteLock([&] {
             _physicsEngine->stepSimulation();
         });
@@ -2807,6 +2808,8 @@ void Application::update(float deltaTime) {
                 // and will simulate entity motion (the EntityTree has been given an EntitySimulation).
                 _entities.update(); // update the models...
             }
+
+            myAvatar->harvestResultsFromPhysicsSimulation();
         }
     }
 
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 5920543dca..f7fad2bd2b 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -154,7 +154,8 @@ void MyAvatar::reset(bool andReload) {
     }
 
     // Reset dynamic state.
-    _wasPushing = _isPushing = _isBraking = _billboardValid = _straighteningLean = false;
+    _wasPushing = _isPushing = _isBraking = _billboardValid = false;
+    _isFollowingHMD = false;
     _skeletonModel.reset();
     getHead()->reset();
     _targetVelocity = glm::vec3(0.0f);
@@ -304,7 +305,7 @@ glm::mat4 MyAvatar::getSensorToWorldMatrix() const {
 
 // returns true if pos is OUTSIDE of the vertical capsule
 // where the middle cylinder length is defined by capsuleLen and the radius by capsuleRad.
-static bool capsuleCheck(const glm::vec3& pos, float capsuleLen, float capsuleRad) {
+static bool pointIsOutsideCapsule(const glm::vec3& pos, float capsuleLen, float capsuleRad) {
     const float halfCapsuleLen = capsuleLen / 2.0f;
     if (fabs(pos.y) <= halfCapsuleLen) {
         // cylinder check for middle capsule
@@ -325,6 +326,10 @@ static bool capsuleCheck(const glm::vec3& pos, float capsuleLen, float capsuleRa
 // This can also update the avatar's position to follow the HMD
 // as it moves through the world.
 void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
+    // update the sensorMatrices based on the new hmd pose
+    _hmdSensorMatrix = hmdSensorMatrix;
+    _hmdSensorPosition = extractTranslation(hmdSensorMatrix);
+    _hmdSensorOrientation = glm::quat_cast(hmdSensorMatrix);
 
     // calc deltaTime
     auto now = usecTimestampNow();
@@ -334,11 +339,6 @@ void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
     const float BIGGEST_DELTA_TIME_SECS = 0.25f;
     float deltaTime = glm::clamp((float)actualDeltaTime, 0.0f, BIGGEST_DELTA_TIME_SECS);
 
-    // update the sensorMatrices based on the new hmd pose
-    _hmdSensorMatrix = hmdSensorMatrix;
-    _hmdSensorPosition = extractTranslation(hmdSensorMatrix);
-    _hmdSensorOrientation = glm::quat_cast(hmdSensorMatrix);
-
     bool hmdIsAtRest = _hmdAtRestDetector.update(deltaTime, _hmdSensorPosition, _hmdSensorOrientation);
 
     // It can be more accurate/smooth to use velocity rather than position,
@@ -360,58 +360,60 @@ void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
     bool justStartedMoving = (_lastIsMoving != isMoving) && isMoving;
     _lastIsMoving = isMoving;
 
-    if (shouldBeginStraighteningLean() || hmdIsAtRest || justStartedMoving) {
-        beginStraighteningLean();
+    if (shouldFollowHMD() || hmdIsAtRest || justStartedMoving) {
+        beginFollowingHMD();
     }
 
-    processStraighteningLean(deltaTime);
+    followHMD(deltaTime);
 }
 
-void MyAvatar::beginStraighteningLean() {
+glm::vec3 MyAvatar::getHMDCorrectionVelocity() const {
+    // TODO: impelement this
+    return Vectors::ZERO;
+}
+
+void MyAvatar::beginFollowingHMD() {
     // begin homing toward derived body position.
-    if (!_straighteningLean) {
-        _straighteningLean = true;
-        _straighteningLeanAlpha = 0.0f;
+    if (!_isFollowingHMD) {
+        _isFollowingHMD = true;
+        _followHMDAlpha = 0.0f;
     }
 }
 
-bool MyAvatar::shouldBeginStraighteningLean() const {
-    // define a vertical capsule
-    const float STRAIGHTENING_LEAN_CAPSULE_RADIUS = 0.2f;  // meters
-    const float STRAIGHTENING_LEAN_CAPSULE_LENGTH = 0.05f;  // length of the cylinder part of the capsule in meters.
-
-    // detect if the derived body position is outside of a capsule around the _bodySensorMatrix
-    auto newBodySensorMatrix = deriveBodyFromHMDSensor();
-    glm::vec3 diff = extractTranslation(newBodySensorMatrix) - extractTranslation(_bodySensorMatrix);
-    bool isBodyPosOutsideCapsule = capsuleCheck(diff, STRAIGHTENING_LEAN_CAPSULE_LENGTH, STRAIGHTENING_LEAN_CAPSULE_RADIUS);
-
-    if (isBodyPosOutsideCapsule) {
-        return true;
-    } else {
-        return false;
+bool MyAvatar::shouldFollowHMD() const {
+    if (!_isFollowingHMD) {
+        // define a vertical capsule
+        const float FOLLOW_HMD_CAPSULE_RADIUS = 0.2f;  // meters
+        const float FOLLOW_HMD_CAPSULE_LENGTH = 0.05f;  // length of the cylinder part of the capsule in meters.
+    
+        // detect if the derived body position is outside of a capsule around the _bodySensorMatrix
+        auto newBodySensorMatrix = deriveBodyFromHMDSensor();
+        glm::vec3 localPoint = extractTranslation(newBodySensorMatrix) - extractTranslation(_bodySensorMatrix);
+        return pointIsOutsideCapsule(localPoint, FOLLOW_HMD_CAPSULE_LENGTH, FOLLOW_HMD_CAPSULE_RADIUS);
     }
+    return false;
 }
 
-void MyAvatar::processStraighteningLean(float deltaTime) {
-    if (_straighteningLean) {
+void MyAvatar::followHMD(float deltaTime) {
+    if (_isFollowingHMD) {
 
-        const float STRAIGHTENING_LEAN_DURATION = 0.5f;  // seconds
+        const float FOLLOW_HMD_DURATION = 0.5f;  // seconds
 
         auto newBodySensorMatrix = deriveBodyFromHMDSensor();
         auto worldBodyMatrix = _sensorToWorldMatrix * newBodySensorMatrix;
         glm::vec3 worldBodyPos = extractTranslation(worldBodyMatrix);
         glm::quat worldBodyRot = glm::normalize(glm::quat_cast(worldBodyMatrix));
 
-        _straighteningLeanAlpha += (1.0f / STRAIGHTENING_LEAN_DURATION) * deltaTime;
+        _followHMDAlpha += (1.0f / FOLLOW_HMD_DURATION) * deltaTime;
 
-        if (_straighteningLeanAlpha >= 1.0f) {
-            _straighteningLean = false;
+        if (_followHMDAlpha >= 1.0f) {
+            _isFollowingHMD = false;
             nextAttitude(worldBodyPos, worldBodyRot);
             _bodySensorMatrix = newBodySensorMatrix;
         } else {
             // interp position toward the desired pos
-            glm::vec3 pos = lerp(getPosition(), worldBodyPos, _straighteningLeanAlpha);
-            glm::quat rot = glm::normalize(safeMix(getOrientation(), worldBodyRot, _straighteningLeanAlpha));
+            glm::vec3 pos = lerp(getPosition(), worldBodyPos, _followHMDAlpha);
+            glm::quat rot = glm::normalize(safeMix(getOrientation(), worldBodyRot, _followHMDAlpha));
             nextAttitude(pos, rot);
 
             // interp sensor matrix toward desired
@@ -419,8 +421,8 @@ void MyAvatar::processStraighteningLean(float deltaTime) {
             glm::quat nextBodyRot = glm::normalize(glm::quat_cast(newBodySensorMatrix));
             glm::vec3 prevBodyPos = extractTranslation(_bodySensorMatrix);
             glm::quat prevBodyRot = glm::normalize(glm::quat_cast(_bodySensorMatrix));
-            pos = lerp(prevBodyPos, nextBodyPos, _straighteningLeanAlpha);
-            rot = glm::normalize(safeMix(prevBodyRot, nextBodyRot, _straighteningLeanAlpha));
+            pos = lerp(prevBodyPos, nextBodyPos, _followHMDAlpha);
+            rot = glm::normalize(safeMix(prevBodyRot, nextBodyRot, _followHMDAlpha));
             _bodySensorMatrix = createMatFromQuatAndPos(rot, pos);
         }
     }
@@ -1274,6 +1276,23 @@ void MyAvatar::rebuildSkeletonBody() {
     _characterController.setLocalBoundingBox(corner, scale);
 }
 
+void MyAvatar::prepareForPhysicsSimulation() {
+    relayDriveKeysToCharacterController();
+    _characterController.setTargetVelocity(getTargetVelocity());
+    _characterController.setAvatarPositionAndOrientation(getPosition(), getOrientation());
+    _characterController.setHMDVelocity(getHMDCorrectionVelocity());
+}   
+
+void MyAvatar::harvestResultsFromPhysicsSimulation() {
+    glm::vec3 position = getPosition();
+    glm::quat orientation = getOrientation();
+    _characterController.getAvatarPositionAndOrientation(position, orientation);
+    nextAttitude(position, orientation);
+    setVelocity(_characterController.getLinearVelocity());
+    // TODO: harvest HMD shift here
+    //glm::vec3 hmdShift = _characterController.getHMDShift();
+}
+
 QString MyAvatar::getScriptedMotorFrame() const {
     QString frame = "avatar";
     if (_scriptedMotorFrame == SCRIPTED_MOTOR_CAMERA_FRAME) {
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 1ffb27930e..d6199ae814 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -12,12 +12,15 @@
 #ifndef hifi_MyAvatar_h
 #define hifi_MyAvatar_h
 
+#include <glm/glm.hpp>
+
 #include <SettingHandle.h>
-#include <DynamicCharacterController.h>
 #include <Rig.h>
 
 #include "Avatar.h"
 #include "AtRestDetector.h"
+#include "MyCharacterController.h"
+
 
 class ModelItemID;
 
@@ -72,6 +75,8 @@ public:
     // as it moves through the world.
     void updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix);
 
+    glm::vec3 getHMDCorrectionVelocity() const;
+
     // best called at end of main loop, just before rendering.
     // update sensor to world matrix from current body position and hmd sensor.
     // This is so the correct camera can be used for rendering.
@@ -166,10 +171,12 @@ public:
 
     virtual void setAttachmentData(const QVector<AttachmentData>& attachmentData) override;
 
-    DynamicCharacterController* getCharacterController() { return &_characterController; }
+    MyCharacterController* getCharacterController() { return &_characterController; }
 
+    void prepareForPhysicsSimulation();
+    void harvestResultsFromPhysicsSimulation();
 
-    const QString& getCollisionSoundURL() {return _collisionSoundURL; }
+    const QString& getCollisionSoundURL() { return _collisionSoundURL; }
     void setCollisionSoundURL(const QString& url);
 
     void clearScriptableSettings();
@@ -274,9 +281,9 @@ private:
     const RecorderPointer getRecorder() const { return _recorder; }
     const PlayerPointer getPlayer() const { return _player; }
 
-    void beginStraighteningLean();
-    bool shouldBeginStraighteningLean() const;
-    void processStraighteningLean(float deltaTime);
+    void beginFollowingHMD();
+    bool shouldFollowHMD() const;
+    void followHMD(float deltaTime);
 
     bool cameraInsideHead() const;
 
@@ -307,7 +314,7 @@ private:
     quint32 _motionBehaviors;
     QString _collisionSoundURL;
 
-    DynamicCharacterController _characterController;
+    MyCharacterController _characterController;
 
     AvatarWeakPointer _lookAtTargetAvatar;
     glm::vec3 _targetAvatarPosition;
@@ -360,21 +367,21 @@ private:
     RigPointer _rig;
     bool _prevShouldDrawHead;
 
-    bool _enableDebugDrawBindPose = false;
-    bool _enableDebugDrawAnimPose = false;
-    AnimSkeleton::ConstPointer _debugDrawSkeleton = nullptr;
+    bool _enableDebugDrawBindPose { false };
+    bool _enableDebugDrawAnimPose { false };
+    AnimSkeleton::ConstPointer _debugDrawSkeleton { nullptr };
 
     AudioListenerMode _audioListenerMode;
     glm::vec3 _customListenPosition;
     glm::quat _customListenOrientation;
 
-    bool _straighteningLean = false;
-    float _straighteningLeanAlpha = 0.0f;
+    bool _isFollowingHMD { false };
+    float _followHMDAlpha { 0.0f };
 
-    quint64 _lastUpdateFromHMDTime = usecTimestampNow();
+    quint64 _lastUpdateFromHMDTime { usecTimestampNow() };
     AtRestDetector _hmdAtRestDetector;
     glm::vec3 _lastPosition;
-    bool _lastIsMoving = false;
+    bool _lastIsMoving { false };
 };
 
 QScriptValue audioListenModeToScriptValue(QScriptEngine* engine, const AudioListenerMode& audioListenerMode);
diff --git a/libraries/physics/src/DynamicCharacterController.cpp b/interface/src/avatar/MyCharacterController.cpp
similarity index 71%
rename from libraries/physics/src/DynamicCharacterController.cpp
rename to interface/src/avatar/MyCharacterController.cpp
index 604326168c..ad2ca32b05 100644
--- a/libraries/physics/src/DynamicCharacterController.cpp
+++ b/interface/src/avatar/MyCharacterController.cpp
@@ -1,13 +1,26 @@
+//
+//  MyCharacterController.h
+//  interface/src/avatar
+//
+//  Created by AndrewMeadows 2015.10.21
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include "MyCharacterController.h"
+
 #include <BulletCollision/CollisionShapes/btMultiSphereShape.h>
 #include <BulletDynamics/Dynamics/btRigidBody.h>
 #include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
 #include <LinearMath/btDefaultMotionState.h>
 
+#include <GLMHelpers.h>
+#include <PhysicsLogging.h>
 #include <PhysicsCollisionGroups.h>
 
-#include "BulletUtil.h"
-#include "DynamicCharacterController.h"
-#include "PhysicsLogging.h"
+#include "MyAvatar.h"
 
 const btVector3 LOCAL_UP_AXIS(0.0f, 1.0f, 0.0f);
 const float DEFAULT_GRAVITY = -5.0f;
@@ -15,11 +28,6 @@ const float JUMP_SPEED = 3.5f;
 
 const float MAX_FALL_HEIGHT = 20.0f;
 
-const uint32_t PENDING_FLAG_ADD_TO_SIMULATION = 1U << 0;
-const uint32_t PENDING_FLAG_REMOVE_FROM_SIMULATION = 1U << 1;
-const uint32_t PENDING_FLAG_UPDATE_SHAPE = 1U << 2;
-const uint32_t PENDING_FLAG_JUMP = 1U << 3;
-
 // TODO: improve walking up steps
 // TODO: make avatars able to walk up and down steps/slopes
 // TODO: make avatars stand on steep slope
@@ -41,19 +49,18 @@ protected:
     btRigidBody* _me;
 };
 
-DynamicCharacterController::DynamicCharacterController(AvatarData* avatarData) {
+MyCharacterController::MyCharacterController(MyAvatar* avatar) {
     _halfHeight = 1.0f;
-    _shape = nullptr;
-    _rigidBody = nullptr;
 
-    assert(avatarData);
-    _avatarData = avatarData;
+    assert(avatar);
+    _avatar = avatar;
 
     _enabled = false;
 
     _floorDistance = MAX_FALL_HEIGHT;
 
-    _walkVelocity.setValue(0.0f,0.0f,0.0f);
+    _walkVelocity.setValue(0.0f, 0.0f, 0.0f);
+    _hmdVelocity.setValue(0.0f, 0.0f, 0.0f);
     _jumpSpeed = JUMP_SPEED;
     _isOnGround = false;
     _isJumping = false;
@@ -61,21 +68,16 @@ DynamicCharacterController::DynamicCharacterController(AvatarData* avatarData) {
     _isHovering = true;
     _isPushingUp = false;
     _jumpToHoverStart = 0;
+    _lastStepDuration = 0.0f;
 
     _pendingFlags = PENDING_FLAG_UPDATE_SHAPE;
     updateShapeIfNecessary();
 }
 
-DynamicCharacterController::~DynamicCharacterController() {
+MyCharacterController::~MyCharacterController() {
 }
 
-// virtual 
-void DynamicCharacterController::setWalkDirection(const btVector3& walkDirection) {
-    // do nothing -- walkVelocity is upated in preSimulation()
-    //_walkVelocity = walkDirection;
-}
-
-void DynamicCharacterController::preStep(btCollisionWorld* collisionWorld) {
+void MyCharacterController::preStep(btCollisionWorld* collisionWorld) {
     // trace a ray straight down to see if we're standing on the ground
     const btTransform& xform = _rigidBody->getWorldTransform();
 
@@ -96,7 +98,7 @@ void DynamicCharacterController::preStep(btCollisionWorld* collisionWorld) {
     }
 }
 
-void DynamicCharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) {
+void MyCharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) {
     btVector3 actualVelocity = _rigidBody->getLinearVelocity();
     btScalar actualSpeed = actualVelocity.length();
 
@@ -158,9 +160,20 @@ void DynamicCharacterController::playerStep(btCollisionWorld* dynaWorld, btScala
             _rigidBody->setLinearVelocity(actualVelocity + tau * velocityCorrection);
         }
     }
+
+    // Rather than add _hmdVelocity to the velocity of the RigidBody, we explicitly teleport 
+    // the RigidBody forward according to the formula: distance = rate * time
+    if (_hmdVelocity.length2() > 0.0f) {
+        btTransform bodyTransform = _rigidBody->getWorldTransform();
+        bodyTransform.setOrigin(bodyTransform.getOrigin() + dt * _hmdVelocity);
+        _rigidBody->setWorldTransform(bodyTransform);
+    }
+    // MyAvatar will ask us how far we stepped for HMD motion, which will depend on how 
+    // much time has accumulated in _lastStepDuration.
+    _lastStepDuration += dt;
 }
 
-void DynamicCharacterController::jump() {
+void MyCharacterController::jump() {
     // check for case where user is holding down "jump" key...
     // we'll eventually tansition to "hover"
     if (!_isJumping) {
@@ -178,12 +191,12 @@ void DynamicCharacterController::jump() {
     }
 }
 
-bool DynamicCharacterController::onGround() const {
+bool MyCharacterController::onGround() const {
     const btScalar FLOOR_PROXIMITY_THRESHOLD = 0.3f * _radius;
     return _floorDistance < FLOOR_PROXIMITY_THRESHOLD;
 }
 
-void DynamicCharacterController::setHovering(bool hover) {
+void MyCharacterController::setHovering(bool hover) {
     if (hover != _isHovering) {
         _isHovering = hover;
         _isJumping = false;
@@ -198,7 +211,7 @@ void DynamicCharacterController::setHovering(bool hover) {
     }
 }
 
-void DynamicCharacterController::setLocalBoundingBox(const glm::vec3& corner, const glm::vec3& scale) {
+void MyCharacterController::setLocalBoundingBox(const glm::vec3& corner, const glm::vec3& scale) {
     _boxScale = scale;
 
     float x = _boxScale.x;
@@ -231,15 +244,7 @@ void DynamicCharacterController::setLocalBoundingBox(const glm::vec3& corner, co
     _shapeLocalOffset = corner + 0.5f * _boxScale;
 }
 
-bool DynamicCharacterController::needsRemoval() const {
-    return (bool)(_pendingFlags & PENDING_FLAG_REMOVE_FROM_SIMULATION);
-}
-
-bool DynamicCharacterController::needsAddition() const {
-    return (bool)(_pendingFlags & PENDING_FLAG_ADD_TO_SIMULATION);
-}
-
-void DynamicCharacterController::setEnabled(bool enabled) {
+void MyCharacterController::setEnabled(bool enabled) {
     if (enabled != _enabled) {
         if (enabled) {
             // Don't bother clearing REMOVE bit since it might be paired with an UPDATE_SHAPE bit.
@@ -257,46 +262,9 @@ void DynamicCharacterController::setEnabled(bool enabled) {
     }
 }
 
-void DynamicCharacterController::setDynamicsWorld(btDynamicsWorld* world) {
-    if (_dynamicsWorld != world) {
-        if (_dynamicsWorld) { 
-            if (_rigidBody) {
-                _dynamicsWorld->removeRigidBody(_rigidBody);
-                _dynamicsWorld->removeAction(this);
-            }
-            _dynamicsWorld = nullptr;
-        }
-        if (world && _rigidBody) {
-            _dynamicsWorld = world;
-            _pendingFlags &= ~ PENDING_FLAG_JUMP;
-            _dynamicsWorld->addRigidBody(_rigidBody, COLLISION_GROUP_MY_AVATAR, COLLISION_MASK_MY_AVATAR);
-            _dynamicsWorld->addAction(this);
-            //reset(_dynamicsWorld);
-        }
-    }
-    if (_dynamicsWorld) {
-        if (_pendingFlags & PENDING_FLAG_UPDATE_SHAPE) {
-            // shouldn't fall in here, but if we do make sure both ADD and REMOVE bits are still set
-            _pendingFlags |= PENDING_FLAG_ADD_TO_SIMULATION | PENDING_FLAG_REMOVE_FROM_SIMULATION;
-        } else {
-            _pendingFlags &= ~PENDING_FLAG_ADD_TO_SIMULATION;
-        }
-    } else {
-        _pendingFlags &= ~ PENDING_FLAG_REMOVE_FROM_SIMULATION;
-    }
-}
-
-void DynamicCharacterController::updateShapeIfNecessary() {
+void MyCharacterController::updateShapeIfNecessary() {
     if (_pendingFlags & PENDING_FLAG_UPDATE_SHAPE) {
-        // make sure there is NO pending removal from simulation at this point
-        // (don't want to delete _rigidBody out from under the simulation)
-        assert(!(_pendingFlags & PENDING_FLAG_REMOVE_FROM_SIMULATION));
         _pendingFlags &= ~ PENDING_FLAG_UPDATE_SHAPE;
-        // delete shape and RigidBody
-        delete _rigidBody;
-        _rigidBody = nullptr;
-        delete _shape;
-        _shape = nullptr;
 
         // compute new dimensions from avatar's bounding box
         float x = _boxScale.x;
@@ -310,19 +278,27 @@ void DynamicCharacterController::updateShapeIfNecessary() {
         // NOTE: _shapeLocalOffset is already computed
 
         if (_radius > 0.0f) {
-            // create new shape
-            _shape = new btCapsuleShape(_radius, 2.0f * _halfHeight);
-
             // HACK: use some simple mass property defaults for now
             float mass = 100.0f;
             btVector3 inertia(30.0f, 8.0f, 30.0f);
 
-            // create new body
-            _rigidBody = new btRigidBody(mass, nullptr, _shape, inertia);
+            // create RigidBody if it doesn't exist
+            if (!_rigidBody) {
+                btCollisionShape* shape = new btCapsuleShape(_radius, 2.0f * _halfHeight);
+                _rigidBody = new btRigidBody(mass, nullptr, shape, inertia);
+            } else {
+                btCollisionShape* shape = _rigidBody->getCollisionShape();
+                if (shape) {
+                    delete shape;
+                }
+                shape = new btCapsuleShape(_radius, 2.0f * _halfHeight);
+                _rigidBody->setCollisionShape(shape);
+            }
+
             _rigidBody->setSleepingThresholds(0.0f, 0.0f);
             _rigidBody->setAngularFactor(0.0f);
-            _rigidBody->setWorldTransform(btTransform(glmToBullet(_avatarData->getOrientation()),
-                                                      glmToBullet(_avatarData->getPosition())));
+            _rigidBody->setWorldTransform(btTransform(glmToBullet(_avatar->getOrientation()),
+                                                      glmToBullet(_avatar->getPosition())));
             if (_isHovering) {
                 _rigidBody->setGravity(btVector3(0.0f, 0.0f, 0.0f));
             } else {
@@ -335,7 +311,7 @@ void DynamicCharacterController::updateShapeIfNecessary() {
     }
 }
 
-void DynamicCharacterController::updateUpAxis(const glm::quat& rotation) {
+void MyCharacterController::updateUpAxis(const glm::quat& rotation) {
     btVector3 oldUp = _currentUp;
     _currentUp = quatRotate(glmToBullet(rotation), LOCAL_UP_AXIS);
     if (!_isHovering) {
@@ -346,24 +322,50 @@ void DynamicCharacterController::updateUpAxis(const glm::quat& rotation) {
     }
 }
 
-void DynamicCharacterController::preSimulation(btScalar timeStep) {
+void MyCharacterController::setAvatarPositionAndOrientation(
+        const glm::vec3& position, 
+        const glm::quat& orientation) {
+    // TODO: update gravity if up has changed
+    updateUpAxis(orientation);
+
+    btQuaternion bodyOrientation = glmToBullet(orientation);
+    btVector3 bodyPosition = glmToBullet(position + orientation * _shapeLocalOffset);
+    _avatarBodyTransform = btTransform(bodyOrientation, bodyPosition);
+}
+
+void MyCharacterController::getAvatarPositionAndOrientation(glm::vec3& position, glm::quat& rotation) const {
+    if (_enabled && _rigidBody) {
+        const btTransform& avatarTransform = _rigidBody->getWorldTransform();
+        rotation = bulletToGLM(avatarTransform.getRotation());
+        position = bulletToGLM(avatarTransform.getOrigin()) - rotation * _shapeLocalOffset;
+    }
+}
+
+void MyCharacterController::setTargetVelocity(const glm::vec3& velocity) {
+    //_walkVelocity = glmToBullet(_avatarData->getTargetVelocity());
+    _walkVelocity = glmToBullet(velocity);
+}
+
+void MyCharacterController::setHMDVelocity(const glm::vec3& velocity) {
+    _hmdVelocity = glmToBullet(velocity);
+}
+
+glm::vec3 MyCharacterController::getLinearVelocity() const {
+    glm::vec3 velocity(0.0f);
+    if (_rigidBody) {
+        velocity = bulletToGLM(_rigidBody->getLinearVelocity());
+    }
+    return velocity;
+}
+
+void MyCharacterController::preSimulation() {
     if (_enabled && _dynamicsWorld) {
-        glm::quat rotation = _avatarData->getOrientation();
-
-        // TODO: update gravity if up has changed
-        updateUpAxis(rotation);
-
-        glm::vec3 position = _avatarData->getPosition() + rotation * _shapeLocalOffset;
-        _rigidBody->setWorldTransform(btTransform(glmToBullet(rotation), glmToBullet(position)));
-
-        // the rotation is dictated by AvatarData
-        btTransform xform = _rigidBody->getWorldTransform();
-        xform.setRotation(glmToBullet(rotation));
-        _rigidBody->setWorldTransform(xform);
+        // slam body to where it is supposed to be
+        _rigidBody->setWorldTransform(_avatarBodyTransform);
 
         // scan for distant floor
         // rayStart is at center of bottom sphere
-        btVector3 rayStart = xform.getOrigin() - _halfHeight * _currentUp;
+        btVector3 rayStart = _avatarBodyTransform.getOrigin() - _halfHeight * _currentUp;
     
         // rayEnd is straight down MAX_FALL_HEIGHT
         btScalar rayLength = _radius + MAX_FALL_HEIGHT;
@@ -388,8 +390,6 @@ void DynamicCharacterController::preSimulation(btScalar timeStep) {
             setHovering(true);
         }
 
-        _walkVelocity = glmToBullet(_avatarData->getTargetVelocity());
-
         if (_pendingFlags & PENDING_FLAG_JUMP) {
             _pendingFlags &= ~ PENDING_FLAG_JUMP;
             if (onGround()) {
@@ -400,15 +400,9 @@ void DynamicCharacterController::preSimulation(btScalar timeStep) {
             }
         }
     }
+    _lastStepDuration = 0.0f;
 }
 
-void DynamicCharacterController::postSimulation() {
-    if (_enabled && _rigidBody) {
-        const btTransform& avatarTransform = _rigidBody->getWorldTransform();
-        glm::quat rotation = bulletToGLM(avatarTransform.getRotation());
-        glm::vec3 position = bulletToGLM(avatarTransform.getOrigin());
-
-        _avatarData->nextAttitude(position - rotation * _shapeLocalOffset, rotation);
-        _avatarData->setVelocity(bulletToGLM(_rigidBody->getLinearVelocity()));
-    }
+void MyCharacterController::postSimulation() {
+    // postSimulation() exists for symmetry and just in case we need to do something here later
 }
diff --git a/interface/src/avatar/MyCharacterController.h b/interface/src/avatar/MyCharacterController.h
new file mode 100644
index 0000000000..de711c84f4
--- /dev/null
+++ b/interface/src/avatar/MyCharacterController.h
@@ -0,0 +1,106 @@
+//
+//  MyCharacterController.h
+//  interface/src/avatar
+//
+//  Created by AndrewMeadows 2015.10.21
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+
+#ifndef hifi_MyCharacterController_h
+#define hifi_MyCharacterController_h
+
+#include <btBulletDynamicsCommon.h>
+#include <glm/glm.hpp>
+
+#include <BulletUtil.h>
+#include <CharacterController.h>
+#include <SharedUtil.h>
+
+class btCollisionShape;
+class MyAvatar;
+
+class MyCharacterController : public CharacterController {
+public:
+    MyCharacterController(MyAvatar* avatar);
+    ~MyCharacterController ();
+
+    // TODO: implement these when needed
+    virtual void setVelocityForTimeInterval(const btVector3 &velocity, btScalar timeInterval) override { assert(false); }
+    virtual void reset(btCollisionWorld* collisionWorld) override { }
+    virtual void warp(const btVector3& origin) override { }
+    virtual void debugDraw(btIDebugDraw* debugDrawer) override { }
+    virtual void setUpInterpolate(bool value) override { }
+
+    // overrides from btCharacterControllerInterface
+    virtual void updateAction(btCollisionWorld* collisionWorld, btScalar deltaTime) override {
+        preStep(collisionWorld);
+        playerStep(collisionWorld, deltaTime);
+    }
+    virtual void preStep(btCollisionWorld* collisionWorld) override;
+    virtual void playerStep(btCollisionWorld* collisionWorld, btScalar dt) override;
+    virtual bool canJump() const override { assert(false); return false; } // never call this
+    virtual void jump() override; // call this every frame the jump button is pressed
+    virtual bool onGround() const override;
+
+    // overrides from CharacterController
+    virtual void preSimulation() override;
+    virtual void postSimulation() override;
+
+    bool isHovering() const { return _isHovering; }
+    void setHovering(bool enabled);
+
+    void setEnabled(bool enabled);
+    bool isEnabled() const { return _enabled && _dynamicsWorld; }
+
+    void setLocalBoundingBox(const glm::vec3& corner, const glm::vec3& scale);
+
+    virtual void updateShapeIfNecessary() override;
+
+    void setAvatarPositionAndOrientation( const glm::vec3& position, const glm::quat& orientation);
+    void getAvatarPositionAndOrientation(glm::vec3& position, glm::quat& rotation) const;
+
+    void setTargetVelocity(const glm::vec3& velocity);
+    void setHMDVelocity(const glm::vec3& velocity);
+    glm::vec3 getHMDShift() const { return _lastStepDuration * bulletToGLM(_hmdVelocity); }
+
+    glm::vec3 getLinearVelocity() const;
+
+protected:
+    void updateUpAxis(const glm::quat& rotation);
+
+protected:
+    btVector3 _currentUp;
+    btVector3 _walkVelocity;
+    btVector3 _hmdVelocity;
+    btTransform _avatarBodyTransform;
+
+    glm::vec3 _shapeLocalOffset;
+    glm::vec3 _boxScale; // used to compute capsule shape
+
+    quint64 _jumpToHoverStart;
+
+    MyAvatar* _avatar { nullptr };
+
+    btScalar _halfHeight;
+    btScalar _radius;
+
+    btScalar _floorDistance;
+
+    btScalar _gravity;
+
+    btScalar _jumpSpeed;
+    btScalar _lastStepDuration;
+
+    bool _enabled;
+    bool _isOnGround;
+    bool _isJumping;
+    bool _isFalling;
+    bool _isHovering;
+    bool _isPushingUp;
+};
+
+#endif // hifi_MyCharacterController_h
diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 003677bf90..4c0372c474 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -117,8 +117,6 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
         const FBXGeometry& geometry = _geometry->getFBXGeometry();
 
         Rig::HeadParameters headParams;
-        headParams.modelRotation = getRotation();
-        headParams.modelTranslation = getTranslation();
         headParams.enableLean = qApp->getAvatarUpdater()->isHMDMode();
         headParams.leanSideways = head->getFinalLeanSideways();
         headParams.leanForward = head->getFinalLeanForward();
@@ -152,19 +150,13 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
             headParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame();
         }
 
-        headParams.eyeLookAt = head->getLookAtPosition();
-        headParams.eyeSaccade = head->getSaccade();
         headParams.leanJointIndex = geometry.leanJointIndex;
         headParams.neckJointIndex = geometry.neckJointIndex;
-        headParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
-        headParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
-
         headParams.isTalking = head->getTimeWithoutTalking() <= 1.5f;
 
         _rig->updateFromHeadParameters(headParams, deltaTime);
 
         Rig::HandParameters handParams;
-
         const PalmData* leftPalm = getPalmWithIndex(myAvatar->getHand(), LEFT_HAND_INDEX);
         if (leftPalm && leftPalm->isActive()) {
             handParams.isLeftEnabled = true;
@@ -188,8 +180,28 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
         _rig->updateFromHandParameters(handParams, deltaTime);
 
         _rig->computeMotionAnimationState(deltaTime, _owningAvatar->getPosition(), _owningAvatar->getVelocity(), _owningAvatar->getOrientation());
+        // evaluate AnimGraph animation and update jointStates.
+        Model::updateRig(deltaTime, parentTransform);
+
+        Rig::EyeParameters eyeParams;
+        eyeParams.worldHeadOrientation = headParams.worldHeadOrientation;
+        eyeParams.eyeLookAt = head->getLookAtPosition();
+        eyeParams.eyeSaccade = head->getSaccade();
+        eyeParams.modelRotation = getRotation();
+        eyeParams.modelTranslation = getTranslation();
+        eyeParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
+        eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
+
+        _rig->updateFromEyeParameters(eyeParams);
+
+        // rebuild the jointState transform for the eyes only. Must be after updateRig.
+        _rig->updateJointState(eyeParams.leftEyeJointIndex, parentTransform);
+        _rig->updateJointState(eyeParams.rightEyeJointIndex, parentTransform);
 
     } else {
+
+        Model::updateRig(deltaTime, parentTransform);
+
         // This is a little more work than we really want.
         //
         // Other avatars joint, including their eyes, should already be set just like any other joints
@@ -206,11 +218,17 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
         head->setBasePitch(glm::degrees(-eulers.x));
         head->setBaseYaw(glm::degrees(eulers.y));
         head->setBaseRoll(glm::degrees(-eulers.z));
-        _rig->updateEyeJoints(geometry.leftEyeJointIndex, geometry.rightEyeJointIndex,
-                              getTranslation(), getRotation(),
-                              head->getFinalOrientationInWorldFrame(), head->getCorrectedLookAtPosition());
+
+        Rig::EyeParameters eyeParams;
+        eyeParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame();
+        eyeParams.eyeLookAt = head->getCorrectedLookAtPosition();
+        eyeParams.eyeSaccade = glm::vec3();
+        eyeParams.modelRotation = getRotation();
+        eyeParams.modelTranslation = getTranslation();
+        eyeParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
+        eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
+        _rig->updateFromEyeParameters(eyeParams);
      }
-    Model::updateRig(deltaTime, parentTransform);
 }
 
 void SkeletonModel::updateAttitude() {
diff --git a/interface/src/ui/JSConsole.cpp b/interface/src/ui/JSConsole.cpp
index b50f84d538..2d34ba5608 100644
--- a/interface/src/ui/JSConsole.cpp
+++ b/interface/src/ui/JSConsole.cpp
@@ -106,8 +106,11 @@ void JSConsole::executeCommand(const QString& command) {
 
 QScriptValue JSConsole::executeCommandInWatcher(const QString& command) {
     QScriptValue result;
+    static const QString filename = "JSConcole";
     QMetaObject::invokeMethod(_scriptEngine, "evaluate", Qt::ConnectionType::BlockingQueuedConnection,
-        Q_RETURN_ARG(QScriptValue, result), Q_ARG(const QString&, command));
+                              Q_RETURN_ARG(QScriptValue, result),
+                              Q_ARG(const QString&, command),
+                              Q_ARG(const QString&, filename));
     return result;
 }
 
diff --git a/interface/src/ui/overlays/Web3DOverlay.cpp b/interface/src/ui/overlays/Web3DOverlay.cpp
index 0f2361410b..1088473a25 100644
--- a/interface/src/ui/overlays/Web3DOverlay.cpp
+++ b/interface/src/ui/overlays/Web3DOverlay.cpp
@@ -27,7 +27,7 @@
 #include <RegisteredMetaTypes.h>
 #include <AbstractViewStateInterface.h>
 
-#include <OffscreenQmlSurface.h>
+#include <gl/OffscreenQmlSurface.h>
 
 static const float DPI = 30.47f;
 static const float INCHES_TO_METERS = 1.0f / 39.3701f;
diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index 516d4116d8..42e9472819 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -366,7 +366,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
             if (offsetLength > MIN_HIPS_OFFSET_LENGTH) {
                 // but only if offset is long enough
                 float scaleFactor = ((offsetLength - MIN_HIPS_OFFSET_LENGTH) / offsetLength);
-                _relativePoses[0].trans = underPoses[0].trans + scaleFactor * _hipsOffset;
+                _relativePoses[_hipsIndex].trans = underPoses[_hipsIndex].trans + scaleFactor * _hipsOffset;
             }
 
             solveWithCyclicCoordinateDescent(targets);
@@ -758,8 +758,10 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
     if (skeleton) {
         initConstraints();
         _headIndex = _skeleton->nameToJointIndex("Head");
+        _hipsIndex = _skeleton->nameToJointIndex("Hips");
     } else {
         clearConstraints();
         _headIndex = -1;
+        _hipsIndex = -1;
     }
 }
diff --git a/libraries/animation/src/AnimInverseKinematics.h b/libraries/animation/src/AnimInverseKinematics.h
index b96dd3711e..f8f7fd9e9e 100644
--- a/libraries/animation/src/AnimInverseKinematics.h
+++ b/libraries/animation/src/AnimInverseKinematics.h
@@ -80,6 +80,7 @@ protected:
 
     // experimental data for moving hips during IK
     int _headIndex = -1;
+    int _hipsIndex = -1;
     glm::vec3 _hipsOffset = Vectors::ZERO;
 
     // _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp
index 7810bb8693..de2d3c54ad 100644
--- a/libraries/animation/src/Rig.cpp
+++ b/libraries/animation/src/Rig.cpp
@@ -23,34 +23,6 @@
 #include "AnimSkeleton.h"
 #include "IKTarget.h"
 
-
-void Rig::HeadParameters::dump() const {
-    qCDebug(animation, "HeadParameters =");
-    qCDebug(animation, "    leanSideways = %0.5f", (double)leanSideways);
-    qCDebug(animation, "    leanForward = %0.5f", (double)leanForward);
-    qCDebug(animation, "    torsoTwist = %0.5f", (double)torsoTwist);
-    glm::vec3 axis = glm::axis(localHeadOrientation);
-    float theta = glm::angle(localHeadOrientation);
-    qCDebug(animation, "    localHeadOrientation axis = (%.5f, %.5f, %.5f), theta = %0.5f", (double)axis.x, (double)axis.y, (double)axis.z, (double)theta);
-    axis = glm::axis(worldHeadOrientation);
-    theta = glm::angle(worldHeadOrientation);
-    qCDebug(animation, "    localHead pitch = %.5f, yaw = %.5f, roll = %.5f", (double)localHeadPitch, (double)localHeadYaw, (double)localHeadRoll);
-    qCDebug(animation, "    localHeadPosition = (%.5f, %.5f, %.5f)", (double)localHeadPosition.x, (double)localHeadPosition.y, (double)localHeadPosition.z);
-    qCDebug(animation, "    isInHMD = %s", isInHMD ? "true" : "false");
-    qCDebug(animation, "    worldHeadOrientation axis = (%.5f, %.5f, %.5f), theta = %0.5f", (double)axis.x, (double)axis.y, (double)axis.z, (double)theta);
-    axis = glm::axis(modelRotation);
-    theta = glm::angle(modelRotation);
-    qCDebug(animation, "    modelRotation axis = (%.5f, %.5f, %.5f), theta = %0.5f", (double)axis.x, (double)axis.y, (double)axis.z, (double)theta);
-    qCDebug(animation, "    modelTranslation = (%.5f, %.5f, %.5f)", (double)modelTranslation.x, (double)modelTranslation.y, (double)modelTranslation.z);
-    qCDebug(animation, "    eyeLookAt = (%.5f, %.5f, %.5f)", (double)eyeLookAt.x, (double)eyeLookAt.y, (double)eyeLookAt.z);
-    qCDebug(animation, "    eyeSaccade = (%.5f, %.5f, %.5f)", (double)eyeSaccade.x, (double)eyeSaccade.y, (double)eyeSaccade.z);
-    qCDebug(animation, "    leanJointIndex = %.d", leanJointIndex);
-    qCDebug(animation, "    neckJointIndex = %.d", neckJointIndex);
-    qCDebug(animation, "    leftEyeJointIndex = %.d", leftEyeJointIndex);
-    qCDebug(animation, "    rightEyeJointIndex = %.d", rightEyeJointIndex);
-    qCDebug(animation, "    isTalking = %s", isTalking ? "true" : "false");
-}
-
 void insertSorted(QList<AnimationHandlePointer>& handles, const AnimationHandlePointer& handle) {
     for (QList<AnimationHandlePointer>::iterator it = handles.begin(); it != handles.end(); it++) {
         if (handle->getPriority() > (*it)->getPriority()) {
@@ -1045,8 +1017,6 @@ void Rig::updateFromHeadParameters(const HeadParameters& params, float dt) {
         _animVars.unset("lean");
     }
     updateNeckJoint(params.neckJointIndex, params);
-    updateEyeJoints(params.leftEyeJointIndex, params.rightEyeJointIndex, params.modelTranslation, params.modelRotation,
-                    params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade);
 
     if (_enableAnimGraph) {
         _animVars.set("isTalking", params.isTalking);
@@ -1054,6 +1024,13 @@ void Rig::updateFromHeadParameters(const HeadParameters& params, float dt) {
     }
 }
 
+void Rig::updateFromEyeParameters(const EyeParameters& params) {
+    updateEyeJoint(params.leftEyeJointIndex, params.modelTranslation, params.modelRotation,
+                   params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade);
+    updateEyeJoint(params.rightEyeJointIndex, params.modelTranslation, params.modelRotation,
+                   params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade);
+}
+
 static const glm::vec3 X_AXIS(1.0f, 0.0f, 0.0f);
 static const glm::vec3 Y_AXIS(0.0f, 1.0f, 0.0f);
 static const glm::vec3 Z_AXIS(0.0f, 0.0f, 1.0f);
@@ -1209,12 +1186,6 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
     }
 }
 
-void Rig::updateEyeJoints(int leftEyeIndex, int rightEyeIndex, const glm::vec3& modelTranslation, const glm::quat& modelRotation,
-                          const glm::quat& worldHeadOrientation, const glm::vec3& lookAtSpot, const glm::vec3& saccade) {
-    updateEyeJoint(leftEyeIndex, modelTranslation, modelRotation, worldHeadOrientation, lookAtSpot, saccade);
-    updateEyeJoint(rightEyeIndex, modelTranslation, modelRotation, worldHeadOrientation, lookAtSpot, saccade);
-}
-
 void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::quat& worldHeadOrientation, const glm::vec3& lookAtSpot, const glm::vec3& saccade) {
     if (index >= 0 && _jointStates[index].getParentIndex() >= 0) {
         auto& state = _jointStates[index];
diff --git a/libraries/animation/src/Rig.h b/libraries/animation/src/Rig.h
index 5551b21e40..c23ab3d506 100644
--- a/libraries/animation/src/Rig.h
+++ b/libraries/animation/src/Rig.h
@@ -65,24 +65,26 @@ public:
         float leanForward = 0.0f; // degrees
         float torsoTwist = 0.0f; // degrees
         bool enableLean = false;
-        glm::quat modelRotation = glm::quat();
+        glm::quat worldHeadOrientation = glm::quat();
         glm::quat localHeadOrientation = glm::quat();
         float localHeadPitch = 0.0f; // degrees
         float localHeadYaw = 0.0f; // degrees
         float localHeadRoll = 0.0f; // degrees
         glm::vec3 localHeadPosition = glm::vec3();
         bool isInHMD = false;
+        int leanJointIndex = -1;
+        int neckJointIndex = -1;
+        bool isTalking = false;
+    };
+
+    struct EyeParameters {
         glm::quat worldHeadOrientation = glm::quat();
         glm::vec3 eyeLookAt = glm::vec3();  // world space
         glm::vec3 eyeSaccade = glm::vec3(); // world space
         glm::vec3 modelTranslation = glm::vec3();
-        int leanJointIndex = -1;
-        int neckJointIndex = -1;
+        glm::quat modelRotation = glm::quat();
         int leftEyeJointIndex = -1;
         int rightEyeJointIndex = -1;
-        bool isTalking = false;
-
-        void dump() const;
     };
 
     struct HandParameters {
@@ -193,9 +195,7 @@ public:
     bool getEnableAnimGraph() const { return _enableAnimGraph; }
 
     void updateFromHeadParameters(const HeadParameters& params, float dt);
-    void updateEyeJoints(int leftEyeIndex, int rightEyeIndex, const glm::vec3& modelTranslation, const glm::quat& modelRotation,
-                         const glm::quat& worldHeadOrientation, const glm::vec3& lookAtSpot, const glm::vec3& saccade = glm::vec3(0.0f));
-
+    void updateFromEyeParameters(const EyeParameters& params);
     void updateFromHandParameters(const HandParameters& params, float dt);
 
     virtual void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation,
diff --git a/libraries/display-plugins/CMakeLists.txt b/libraries/display-plugins/CMakeLists.txt
index 504370796a..14aa03de44 100644
--- a/libraries/display-plugins/CMakeLists.txt
+++ b/libraries/display-plugins/CMakeLists.txt
@@ -1,6 +1,6 @@
 set(TARGET_NAME display-plugins)
 setup_hifi_library(OpenGL)
-link_hifi_libraries(shared plugins gpu render-utils)
+link_hifi_libraries(shared plugins gpu gl)
 
 target_opengl()
 
diff --git a/libraries/display-plugins/src/display-plugins/DisplayPlugin.h b/libraries/display-plugins/src/display-plugins/DisplayPlugin.h
index b4ae6be97f..b2176e0bd1 100644
--- a/libraries/display-plugins/src/display-plugins/DisplayPlugin.h
+++ b/libraries/display-plugins/src/display-plugins/DisplayPlugin.h
@@ -12,8 +12,8 @@
 #include <QPoint>
 #include <functional>
 
-#include "gpu/GPUConfig.h"
-#include "GLMHelpers.h"
+#include <gl/Config.h>
+#include <GLMHelpers.h>
 
 #include <glm/glm.hpp>
 #include <glm/gtc/quaternion.hpp>
diff --git a/libraries/display-plugins/src/display-plugins/OpenGLDisplayPlugin.cpp b/libraries/display-plugins/src/display-plugins/OpenGLDisplayPlugin.cpp
index 505dae824a..6f6117229a 100644
--- a/libraries/display-plugins/src/display-plugins/OpenGLDisplayPlugin.cpp
+++ b/libraries/display-plugins/src/display-plugins/OpenGLDisplayPlugin.cpp
@@ -9,7 +9,7 @@
 #include <QOpenGLContext>
 #include <QCoreApplication>
 
-#include <GlWindow.h>
+#include <gl/GlWindow.h>
 #include <GLMHelpers.h>
 
 
diff --git a/libraries/display-plugins/src/display-plugins/OpenGLDisplayPlugin.h b/libraries/display-plugins/src/display-plugins/OpenGLDisplayPlugin.h
index 52715ebde7..44ab656f31 100644
--- a/libraries/display-plugins/src/display-plugins/OpenGLDisplayPlugin.h
+++ b/libraries/display-plugins/src/display-plugins/OpenGLDisplayPlugin.h
@@ -7,10 +7,10 @@
 //
 #pragma once
 
-#include <QTimer>
-
 #include "DisplayPlugin.h"
-#include "OglplusHelpers.h"
+
+#include <QTimer>
+#include <gl/OglplusHelpers.h>
 
 class GlWindow;
 class QOpenGLContext;
diff --git a/libraries/display-plugins/src/display-plugins/oculus/OculusLegacyDisplayPlugin.cpp b/libraries/display-plugins/src/display-plugins/oculus/OculusLegacyDisplayPlugin.cpp
index 1ad61513d6..205444397f 100644
--- a/libraries/display-plugins/src/display-plugins/oculus/OculusLegacyDisplayPlugin.cpp
+++ b/libraries/display-plugins/src/display-plugins/oculus/OculusLegacyDisplayPlugin.cpp
@@ -12,7 +12,7 @@
 #include <QMainWindow>
 #include <QGLWidget>
 #include <GLMHelpers.h>
-#include <GlWindow.h>
+#include <gl/GlWindow.h>
 #include <QEvent>
 #include <QResizeEvent>
 #include <QOpenGLContext>
@@ -20,7 +20,7 @@
 #include <QScreen>
 
 #include <PerfStat.h>
-#include <OglplusHelpers.h>
+#include <gl/OglplusHelpers.h>
 #include <ViewFrustum.h>
 
 #include "plugins/PluginContainer.h"
diff --git a/libraries/display-plugins/src/display-plugins/openvr/OpenVrDisplayPlugin.cpp b/libraries/display-plugins/src/display-plugins/openvr/OpenVrDisplayPlugin.cpp
index faf5a7b781..245fd11ef7 100644
--- a/libraries/display-plugins/src/display-plugins/openvr/OpenVrDisplayPlugin.cpp
+++ b/libraries/display-plugins/src/display-plugins/openvr/OpenVrDisplayPlugin.cpp
@@ -14,7 +14,7 @@
 #include <QMainWindow>
 #include <QGLWidget>
 #include <GLMHelpers.h>
-#include <GlWindow.h>
+#include <gl/GlWindow.h>
 #include <QEvent>
 #include <QResizeEvent>
 
diff --git a/libraries/display-plugins/src/display-plugins/stereo/InterleavedStereoDisplayPlugin.cpp b/libraries/display-plugins/src/display-plugins/stereo/InterleavedStereoDisplayPlugin.cpp
index 23bc176d65..6e14a158d4 100644
--- a/libraries/display-plugins/src/display-plugins/stereo/InterleavedStereoDisplayPlugin.cpp
+++ b/libraries/display-plugins/src/display-plugins/stereo/InterleavedStereoDisplayPlugin.cpp
@@ -11,7 +11,7 @@
 #include <QApplication>
 #include <QDesktopWidget>
 
-#include <GlWindow.h>
+#include <gl/GlWindow.h>
 #include <ViewFrustum.h>
 #include <MatrixStack.h>
 
diff --git a/libraries/display-plugins/src/display-plugins/stereo/SideBySideStereoDisplayPlugin.cpp b/libraries/display-plugins/src/display-plugins/stereo/SideBySideStereoDisplayPlugin.cpp
index 1bdb02fd26..5ba113420d 100644
--- a/libraries/display-plugins/src/display-plugins/stereo/SideBySideStereoDisplayPlugin.cpp
+++ b/libraries/display-plugins/src/display-plugins/stereo/SideBySideStereoDisplayPlugin.cpp
@@ -12,7 +12,7 @@
 #include <QDesktopWidget>
 #include <QScreen>
 
-#include <GlWindow.h>
+#include <gl/GlWindow.h>
 #include <ViewFrustum.h>
 #include <MatrixStack.h>
 
diff --git a/libraries/entities-renderer/CMakeLists.txt b/libraries/entities-renderer/CMakeLists.txt
index bb90c04c95..7023d285ff 100644
--- a/libraries/entities-renderer/CMakeLists.txt
+++ b/libraries/entities-renderer/CMakeLists.txt
@@ -1,7 +1,7 @@
 set(TARGET_NAME entities-renderer)
 AUTOSCRIBE_SHADER_LIB(gpu model render render-utils)
 setup_hifi_library(Widgets Network Script)
-link_hifi_libraries(shared gpu procedural model model-networking script-engine render render-utils)
+link_hifi_libraries(shared gpu procedural model model-networking script-engine render render-utils gl)
 
 target_bullet()
 
diff --git a/libraries/entities-renderer/src/RenderablePolyLineEntityItem.cpp b/libraries/entities-renderer/src/RenderablePolyLineEntityItem.cpp
index 572b24e99f..7bec8f2b03 100644
--- a/libraries/entities-renderer/src/RenderablePolyLineEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderablePolyLineEntityItem.cpp
@@ -37,7 +37,7 @@ PolyLineEntityItem(entityItemID, properties) {
 gpu::PipelinePointer RenderablePolyLineEntityItem::_pipeline;
 gpu::Stream::FormatPointer RenderablePolyLineEntityItem::_format;
 gpu::TexturePointer RenderablePolyLineEntityItem::_texture;
-GLint RenderablePolyLineEntityItem::PAINTSTROKE_GPU_SLOT;
+int32_t RenderablePolyLineEntityItem::PAINTSTROKE_GPU_SLOT;
 
 void RenderablePolyLineEntityItem::createPipeline() {
     static const int NORMAL_OFFSET = 12;
diff --git a/libraries/entities-renderer/src/RenderablePolyLineEntityItem.h b/libraries/entities-renderer/src/RenderablePolyLineEntityItem.h
index 59bf416d7a..2832053639 100644
--- a/libraries/entities-renderer/src/RenderablePolyLineEntityItem.h
+++ b/libraries/entities-renderer/src/RenderablePolyLineEntityItem.h
@@ -18,7 +18,6 @@
 #include "RenderableEntityItem.h"
 #include <GeometryCache.h>
 #include <QReadWriteLock>
-#include <gpu/GPUConfig.h>
 
 
 class RenderablePolyLineEntityItem : public PolyLineEntityItem {
@@ -34,7 +33,7 @@ public:
     static gpu::PipelinePointer _pipeline;
     static gpu::Stream::FormatPointer _format;
     static gpu::TexturePointer _texture;
-    static GLint PAINTSTROKE_GPU_SLOT;
+    static int32_t PAINTSTROKE_GPU_SLOT;
     
 protected:
     void updateGeometry();
diff --git a/libraries/entities-renderer/src/RenderableWebEntityItem.cpp b/libraries/entities-renderer/src/RenderableWebEntityItem.cpp
index 84707aca3b..29fac6cd84 100644
--- a/libraries/entities-renderer/src/RenderableWebEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableWebEntityItem.cpp
@@ -18,7 +18,7 @@
 #include <DeferredLightingEffect.h>
 #include <GeometryCache.h>
 #include <PerfStat.h>
-#include <OffscreenQmlSurface.h>
+#include <gl/OffscreenQmlSurface.h>
 #include <AbstractViewStateInterface.h>
 #include <GLMHelpers.h>
 #include <PathUtils.h>
diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index 1fd9acc1e2..f012ba6eee 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -1790,9 +1790,17 @@ const QByteArray EntityItem::getActionDataInternal() const {
 const QByteArray EntityItem::getActionData() const {
     QByteArray result;
     assertUnlocked();
-    withReadLock([&] {
-        result = getActionDataInternal();
-    });
+
+    if (_actionDataDirty) {
+        withWriteLock([&] {
+            getActionDataInternal();
+            result = _allActionsDataCache;
+        });
+    } else {
+        withReadLock([&] {
+            result = _allActionsDataCache;
+        });
+    }
     return result;
 }
 
diff --git a/libraries/fbx/src/FBXReader.cpp b/libraries/fbx/src/FBXReader.cpp
index 1eda5304e4..f9bb089a9c 100644
--- a/libraries/fbx/src/FBXReader.cpp
+++ b/libraries/fbx/src/FBXReader.cpp
@@ -64,7 +64,7 @@ Extents FBXGeometry::getUnscaledMeshExtents() const {
     glm::vec3 minimum = glm::vec3(offset * glm::vec4(extents.minimum, 1.0f));
     glm::vec3 maximum = glm::vec3(offset * glm::vec4(extents.maximum, 1.0f));
     Extents scaledExtents = { minimum, maximum };
-        
+
     return scaledExtents;
 }
 
@@ -73,7 +73,7 @@ bool FBXGeometry::convexHullContains(const glm::vec3& point) const {
     if (!getUnscaledMeshExtents().containsPoint(point)) {
         return false;
     }
-    
+
     auto checkEachPrimitive = [=](FBXMesh& mesh, QVector<int> indices, int primitiveSize) -> bool {
         // Check whether the point is "behind" all the primitives.
         for (int j = 0; j < indices.size(); j += primitiveSize) {
@@ -87,11 +87,11 @@ bool FBXGeometry::convexHullContains(const glm::vec3& point) const {
         }
         return true;
     };
-    
+
     // Check that the point is contained in at least one convex mesh.
     for (auto mesh : meshes) {
         bool insideMesh = true;
-        
+
         // To be considered inside a convex mesh,
         // the point needs to be "behind" all the primitives respective planes.
         for (auto part : mesh.parts) {
@@ -108,7 +108,7 @@ bool FBXGeometry::convexHullContains(const glm::vec3& point) const {
             return true;
         }
     }
-    
+
     // It wasn't in any mesh, return false.
     return false;
 }
@@ -194,7 +194,7 @@ public:
     glm::vec3 rotationMax;  // radians
 };
 
-glm::mat4 getGlobalTransform(const QMultiHash<QString, QString>& _connectionParentMap,
+glm::mat4 getGlobalTransform(const QMultiMap<QString, QString>& _connectionParentMap,
         const QHash<QString, FBXModel>& models, QString nodeID, bool mixamoHack) {
     glm::mat4 globalTransform;
     while (!nodeID.isNull()) {
@@ -228,12 +228,12 @@ void printNode(const FBXNode& node, int indentLevel) {
     int indentLength = 2;
     QByteArray spaces(indentLevel * indentLength, ' ');
     QDebug nodeDebug = qDebug(modelformat);
-    
+
     nodeDebug.nospace() << spaces.data() << node.name.data() << ": ";
     foreach (const QVariant& property, node.properties) {
         nodeDebug << property;
     }
-    
+
     foreach (const FBXNode& child, node.children) {
         printNode(child, indentLevel + 1);
     }
@@ -246,7 +246,7 @@ public:
     glm::mat4 transformLink;
 };
 
-void appendModelIDs(const QString& parentID, const QMultiHash<QString, QString>& connectionChildMap,
+void appendModelIDs(const QString& parentID, const QMultiMap<QString, QString>& connectionChildMap,
         QHash<QString, FBXModel>& models, QSet<QString>& remainingModels, QVector<QString>& modelIDs) {
     if (remainingModels.contains(parentID)) {
         modelIDs.append(parentID);
@@ -331,7 +331,7 @@ void addBlendshapes(const ExtractedBlendshape& extracted, const QList<WeightedIn
     }
 }
 
-QString getTopModelID(const QMultiHash<QString, QString>& connectionParentMap,
+QString getTopModelID(const QMultiMap<QString, QString>& connectionParentMap,
         const QHash<QString, FBXModel>& models, const QString& modelID) {
     QString topID = modelID;
     forever {
@@ -342,7 +342,7 @@ QString getTopModelID(const QMultiHash<QString, QString>& connectionParentMap,
             }
         }
         return topID;
-        
+
         outerContinue: ;
     }
 }
@@ -361,7 +361,7 @@ public:
 };
 
 bool checkMaterialsHaveTextures(const QHash<QString, FBXMaterial>& materials,
-        const QHash<QString, QByteArray>& textureFilenames, const QMultiHash<QString, QString>& _connectionChildMap) {
+        const QHash<QString, QByteArray>& textureFilenames, const QMultiMap<QString, QString>& _connectionChildMap) {
     foreach (const QString& materialID, materials.keys()) {
         foreach (const QString& childID, _connectionChildMap.values(materialID)) {
             if (textureFilenames.contains(childID)) {
@@ -443,8 +443,8 @@ QByteArray fileOnUrl(const QByteArray& filenameString, const QString& url) {
 }
 
 FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QString& url) {
-    const FBXNode& node = _fbxNode; 
-    QHash<QString, ExtractedMesh> meshes;
+    const FBXNode& node = _fbxNode;
+    QMap<QString, ExtractedMesh> meshes;
     QHash<QString, QString> modelIDsToNames;
     QHash<QString, int> meshIDsToMeshIndices;
     QHash<QString, QString> ooChildToParent;
@@ -497,7 +497,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
     QVector<QString> humanIKJointIDs(humanIKJointNames.size());
 
     QVariantHash blendshapeMappings = mapping.value("bs").toHash();
-    
+
     QMultiHash<QByteArray, WeightedIndex> blendshapeIndices;
     for (int i = 0;; i++) {
         QByteArray blendshapeName = FACESHIFT_BLENDSHAPES[i];
@@ -527,7 +527,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
     QString hifiGlobalNodeID;
     unsigned int meshIndex = 0;
     foreach (const FBXNode& child, node.children) {
-    
+
         if (child.name == "FBXHeaderExtension") {
             foreach (const FBXNode& object, child.children) {
                 if (object.name == "SceneInfo") {
@@ -537,7 +537,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                                 if (subsubobject.name == "Author") {
                                     geometry.author = subsubobject.properties.at(0).toString();
                                 }
-                            } 
+                            }
                         } else if (subobject.name == "Properties70") {
                             foreach (const FBXNode& subsubobject, subobject.children) {
                                 if (subsubobject.name == "P" && subsubobject.properties.size() >= 5 &&
@@ -620,7 +620,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                     if (humanIKJointIndex != -1) {
                         humanIKJointIDs[humanIKJointIndex] = getID(object.properties);
                     }
-                    
+
                     glm::vec3 translation;
                     // NOTE: the euler angles as supplied by the FBX file are in degrees
                     glm::vec3 rotationOffset;
@@ -709,7 +709,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                             // it's a mesh as well as a model
                             mesh = &meshes[getID(object.properties)];
                             *mesh = extractMesh(object, meshIndex);
-                             
+
                         } else if (subobject.name == "Shape") {
                             ExtractedBlendshape blendshape =  { subobject.properties.at(0).toString(),
                                 extractBlendshape(subobject) };
@@ -720,7 +720,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                             QString attributetype = subobject.properties.at(0).toString();
                             if (!attributetype.empty()) {
                                 if (attributetype == "Light") {
-                                    QString lightprop; 
+                                    QString lightprop;
                                     foreach (const QVariant& vprop, subobject.properties) {
                                         lightprop = vprop.toString();
                                     }
@@ -731,23 +731,23 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                         } else {
                             QString whatisthat = subobject.name;
                             if (whatisthat == "Shape") {
-                            } 
+                            }
                         }
 #endif
                     }
-                    
+
                     // add the blendshapes included in the model, if any
                     if (mesh) {
                         foreach (const ExtractedBlendshape& extracted, blendshapes) {
                             addBlendshapes(extracted, blendshapeIndices.values(extracted.id.toLatin1()), *mesh);
                         }
                     }
-                    
+
                     // see FBX documentation, http://download.autodesk.com/us/fbx/20112/FBX_SDK_HELP/index.html
                     model.translation = translation;
 
-                    model.preTransform = glm::translate(rotationOffset) * glm::translate(rotationPivot);      
-                    model.preRotation = glm::quat(glm::radians(preRotation));            
+                    model.preTransform = glm::translate(rotationOffset) * glm::translate(rotationPivot);
+                    model.preRotation = glm::quat(glm::radians(preRotation));
                     model.rotation = glm::quat(glm::radians(rotation));
                     model.postRotation = glm::quat(glm::radians(postRotation));
 
@@ -862,7 +862,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                         if (subobject.name == "RelativeFilename") {
                             filename = subobject.properties.at(0).toByteArray();
                             filename = fileOnUrl(filename, url);
-                            
+
                         } else if (subobject.name == "Content" && !subobject.properties.isEmpty()) {
                             content = subobject.properties.at(0).toByteArray();
                         }
@@ -905,10 +905,10 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
 
                                     } else if (property.properties.at(0) == "Emissive") {
                                         material.emissiveColor = getVec3(property.properties, index);
-                                    
+
                                     } else if (property.properties.at(0) == "Shininess") {
                                         material.shininess = property.properties.at(index).value<double>();
-                                    
+
                                     } else if (property.properties.at(0) == "Opacity") {
                                         material.opacity = property.properties.at(index).value<double>();
                                     }
@@ -1001,7 +1001,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                         }
                     }
                     animationCurves.insert(getID(object.properties), curve);
-                
+
                 }
 #if defined(DEBUG_FBXREADER)
                  else {
@@ -1013,7 +1013,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                     } else {
                         unknown++;
                     }
-                } 
+                }
 #endif
             }
         } else if (child.name == "Connections") {
@@ -1041,14 +1041,14 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                             diffuseTextures.insert(getID(connection.properties, 2), getID(connection.properties, 1));
 
                         } else if (type.contains("transparentcolor")) { // it should be TransparentColor...
-                            // THis is how Maya assign a texture that affect diffuse color AND transparency ? 
+                            // THis is how Maya assign a texture that affect diffuse color AND transparency ?
                             diffuseTextures.insert(getID(connection.properties, 2), getID(connection.properties, 1));
                         } else if (type.contains("bump")) {
                             bumpTextures.insert(getID(connection.properties, 2), getID(connection.properties, 1));
                         } else if (type.contains("normal")) {
                             normalTextures.insert(getID(connection.properties, 2), getID(connection.properties, 1));
                         } else if (type.contains("specular") || type.contains("reflection")) {
-                            specularTextures.insert(getID(connection.properties, 2), getID(connection.properties, 1));    
+                            specularTextures.insert(getID(connection.properties, 2), getID(connection.properties, 1));
 
                         } else if (type == "lcl rotation") {
                             localRotations.insert(getID(connection.properties, 2), getID(connection.properties, 1));
@@ -1097,7 +1097,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
             } else {
                 unknown++;
             }
-        } 
+        }
 #endif
     }
 
@@ -1142,7 +1142,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
             }
         }
         outerBreak:
-    
+
         // make sure the parent is in the child map
         QString parent = _connectionParentMap.value(model.key());
         if (!_connectionChildMap.contains(parent, model.key())) {
@@ -1172,7 +1172,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
         frame.translations.resize(modelIDs.size());
         geometry.animationFrames.append(frame);
     }
-    
+
     // convert the models to joints
     QVariantList freeJoints = mapping.values("freeJoint");
     geometry.hasSkeletonJoints = false;
@@ -1181,7 +1181,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
         FBXJoint joint;
         joint.isFree = freeJoints.contains(model.name);
         joint.parentIndex = model.parentIndex;
- 
+
         // get the indices of all ancestors starting with the first free one (if any)
         int jointIndex = geometry.joints.size();
         joint.freeLineage.append(jointIndex);
@@ -1203,7 +1203,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
         joint.rotationMax = model.rotationMax;
         glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;
         if (joint.parentIndex == -1) {
-            joint.transform = geometry.offset * glm::translate(joint.translation) * joint.preTransform * 
+            joint.transform = geometry.offset * glm::translate(joint.translation) * joint.preTransform *
                 glm::mat4_cast(combinedRotation) * joint.postTransform;
             joint.inverseDefaultRotation = glm::inverse(combinedRotation);
            joint.distanceToParent = 0.0f;
@@ -1272,11 +1272,11 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
     geometry.rightHandJointIndex = modelIDs.indexOf(jointRightHandID);
     geometry.leftToeJointIndex = modelIDs.indexOf(jointLeftToeID);
     geometry.rightToeJointIndex = modelIDs.indexOf(jointRightToeID);
-    
+
     foreach (const QString& id, humanIKJointIDs) {
         geometry.humanIKJointIndices.append(modelIDs.indexOf(id));
     }
-    
+
     // extract the translation component of the neck transform
     if (geometry.neckJointIndex != -1) {
         const glm::mat4& transform = geometry.joints.at(geometry.neckJointIndex).transform;
@@ -1285,7 +1285,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
 
     geometry.bindExtents.reset();
     geometry.meshExtents.reset();
-    
+
     // Create the Material Library
     consolidateFBXMaterials();
     geometry.materials = _fbxMaterials;
@@ -1293,9 +1293,9 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
     // see if any materials have texture children
     bool materialsHaveTextures = checkMaterialsHaveTextures(_fbxMaterials, _textureFilenames, _connectionChildMap);
 
-    for (QHash<QString, ExtractedMesh>::iterator it = meshes.begin(); it != meshes.end(); it++) {
+    for (QMap<QString, ExtractedMesh>::iterator it = meshes.begin(); it != meshes.end(); it++) {
         ExtractedMesh& extracted = it.value();
-        
+
         extracted.mesh.meshExtents.reset();
 
         // accumulate local transforms
@@ -1335,7 +1335,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                 }
 
                 materialIndex++;
-                
+
             } else if (_textureFilenames.contains(childID)) {
                 FBXTexture texture = getTexture(childID);
                 for (int j = 0; j < extracted.partMaterialTextures.size(); j++) {
@@ -1360,7 +1360,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                     setTangents(extracted.mesh, part.quadIndices.at(i + 2), part.quadIndices.at(i + 3));
                     setTangents(extracted.mesh, part.quadIndices.at(i + 3), part.quadIndices.at(i));
                 }
-                // <= size - 3 in order to prevent overflowing triangleIndices when (i % 3) != 0 
+                // <= size - 3 in order to prevent overflowing triangleIndices when (i % 3) != 0
                 // This is most likely evidence of a further problem in extractMesh()
                 for (int i = 0; i <= part.triangleIndices.size() - 3; i += 3) {
                     setTangents(extracted.mesh, part.triangleIndices.at(i), part.triangleIndices.at(i + 1));
@@ -1500,7 +1500,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                 glm::vec4& weights = extracted.mesh.clusterWeights[i];
                 float total = weights.x + weights.y + weights.z + weights.w;
                 if (total != 1.0f && total != 0.0f) {
-                    weights /= total; 
+                    weights /= total;
                 }
             }
         } else {
@@ -1573,7 +1573,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
                 avgRadius += glm::length(offset - projection * axis);
             }
             avgRadius /= (float)points.size();
-        
+
             // compute endpoints of capsule in joint-frame
             glm::vec3 capsuleBegin = avgPoint;
             glm::vec3 capsuleEnd = avgPoint;
@@ -1594,27 +1594,27 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
         joint.shapeInfo.radius = avgRadius;
     }
     geometry.palmDirection = parseVec3(mapping.value("palmDirection", "0, -1, 0").toString());
-    
+
     // Add sitting points
     QVariantHash sittingPoints = mapping.value("sit").toHash();
     for (QVariantHash::const_iterator it = sittingPoints.constBegin(); it != sittingPoints.constEnd(); it++) {
         SittingPoint sittingPoint;
         sittingPoint.name = it.key();
-        
+
         QVariantList properties = it->toList();
         sittingPoint.position = parseVec3(properties.at(0).toString());
         sittingPoint.rotation = glm::quat(glm::radians(parseVec3(properties.at(1).toString())));
-        
+
         geometry.sittingPoints.append(sittingPoint);
     }
-    
+
     // attempt to map any meshes to a named model
-    for (QHash<QString, int>::const_iterator m = meshIDsToMeshIndices.constBegin(); 
+    for (QHash<QString, int>::const_iterator m = meshIDsToMeshIndices.constBegin();
             m != meshIDsToMeshIndices.constEnd(); m++) {
-            
+
         const QString& meshID = m.key();
         int meshIndex = m.value();
-        
+
         if (ooChildToParent.contains(meshID)) {
             const QString& modelID = ooChildToParent.value(meshID);
             if (modelIDsToNames.contains(modelID)) {
@@ -1623,7 +1623,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
             }
         }
     }
-    
+
     return geometryPtr;
 }
 
@@ -1641,5 +1641,3 @@ FBXGeometry* readFBX(QIODevice* device, const QVariantHash& mapping, const QStri
 
     return reader.extractFBXGeometry(mapping, url);
 }
-
-
diff --git a/libraries/fbx/src/FBXReader.h b/libraries/fbx/src/FBXReader.h
index 0af7b28136..8014718815 100644
--- a/libraries/fbx/src/FBXReader.h
+++ b/libraries/fbx/src/FBXReader.h
@@ -413,8 +413,8 @@ public:
     float _lightmapOffset = 0.0f;
     float _lightmapLevel;
 
-    QMultiHash<QString, QString> _connectionParentMap;
-    QMultiHash<QString, QString> _connectionChildMap;
+    QMultiMap<QString, QString> _connectionParentMap;
+    QMultiMap<QString, QString> _connectionChildMap;
 
     static glm::vec3 getVec3(const QVariantList& properties, int index);
     static QVector<glm::vec4> createVec4Vector(const QVector<double>& doubleVector);
diff --git a/libraries/gl/CMakeLists.txt b/libraries/gl/CMakeLists.txt
new file mode 100644
index 0000000000..f60e41739a
--- /dev/null
+++ b/libraries/gl/CMakeLists.txt
@@ -0,0 +1,7 @@
+set(TARGET_NAME gl)
+setup_hifi_library(OpenGL Qml Quick)
+link_hifi_libraries(shared)
+
+target_glew()
+target_opengl()
+target_oglplus()
\ No newline at end of file
diff --git a/libraries/gpu/src/gpu/GPUConfig.h b/libraries/gl/src/gl/Config.h
similarity index 100%
rename from libraries/gpu/src/gpu/GPUConfig.h
rename to libraries/gl/src/gl/Config.h
diff --git a/libraries/render-utils/src/GLEscrow.h b/libraries/gl/src/gl/GLEscrow.h
similarity index 100%
rename from libraries/render-utils/src/GLEscrow.h
rename to libraries/gl/src/gl/GLEscrow.h
diff --git a/libraries/shared/src/GLHelpers.cpp b/libraries/gl/src/gl/GLHelpers.cpp
similarity index 100%
rename from libraries/shared/src/GLHelpers.cpp
rename to libraries/gl/src/gl/GLHelpers.cpp
diff --git a/libraries/shared/src/GLHelpers.h b/libraries/gl/src/gl/GLHelpers.h
similarity index 100%
rename from libraries/shared/src/GLHelpers.h
rename to libraries/gl/src/gl/GLHelpers.h
diff --git a/libraries/render-utils/src/GlWindow.cpp b/libraries/gl/src/gl/GlWindow.cpp
similarity index 94%
rename from libraries/render-utils/src/GlWindow.cpp
rename to libraries/gl/src/gl/GlWindow.cpp
index 248b9305e2..7e43b29e73 100644
--- a/libraries/render-utils/src/GlWindow.cpp
+++ b/libraries/gl/src/gl/GlWindow.cpp
@@ -8,9 +8,10 @@
 
 #include "GlWindow.h"
 
-#include <QOpenGLContext>
-#include <QOpenGLDebugLogger>
-#include <GLHelpers.h>
+#include <QtGui/QOpenGLContext>
+#include <QtGui/QOpenGLDebugLogger>
+
+#include "GLHelpers.h"
 
 GlWindow::GlWindow(QOpenGLContext* shareContext) : GlWindow(getDefaultOpenGlSurfaceFormat(), shareContext) {
 }
diff --git a/libraries/render-utils/src/GlWindow.h b/libraries/gl/src/gl/GlWindow.h
similarity index 100%
rename from libraries/render-utils/src/GlWindow.h
rename to libraries/gl/src/gl/GlWindow.h
diff --git a/libraries/render-utils/src/OffscreenGlCanvas.cpp b/libraries/gl/src/gl/OffscreenGlCanvas.cpp
similarity index 94%
rename from libraries/render-utils/src/OffscreenGlCanvas.cpp
rename to libraries/gl/src/gl/OffscreenGlCanvas.cpp
index 07256e7731..e5c1ee4c4a 100644
--- a/libraries/render-utils/src/OffscreenGlCanvas.cpp
+++ b/libraries/gl/src/gl/OffscreenGlCanvas.cpp
@@ -12,10 +12,11 @@
 
 #include "OffscreenGlCanvas.h"
 
-#include <GLHelpers.h>
-#include <QOpenGLDebugLogger>
-#include <QOpenGLContext>
-#include <QOffscreenSurface>
+#include <QtGui/QOffscreenSurface>
+#include <QtGui/QOpenGLDebugLogger>
+#include <QtGui/QOpenGLContext>
+
+#include "GLHelpers.h"
 
 OffscreenGlCanvas::OffscreenGlCanvas() : _context(new QOpenGLContext), _offscreenSurface(new QOffscreenSurface){
 }
diff --git a/libraries/render-utils/src/OffscreenGlCanvas.h b/libraries/gl/src/gl/OffscreenGlCanvas.h
similarity index 100%
rename from libraries/render-utils/src/OffscreenGlCanvas.h
rename to libraries/gl/src/gl/OffscreenGlCanvas.h
diff --git a/libraries/render-utils/src/OffscreenQmlSurface.cpp b/libraries/gl/src/gl/OffscreenQmlSurface.cpp
similarity index 99%
rename from libraries/render-utils/src/OffscreenQmlSurface.cpp
rename to libraries/gl/src/gl/OffscreenQmlSurface.cpp
index 6c68b60f42..3afd0c84a8 100644
--- a/libraries/render-utils/src/OffscreenQmlSurface.cpp
+++ b/libraries/gl/src/gl/OffscreenQmlSurface.cpp
@@ -23,7 +23,6 @@
 
 #include "GLEscrow.h"
 #include "OffscreenGlCanvas.h"
-#include "AbstractViewStateInterface.h"
 
 // FIXME move to threaded rendering with Qt 5.5
 // #define QML_THREADED 
@@ -207,9 +206,7 @@ private:
         qreal pixelRatio = 1.0;
         if (_renderControl && _renderControl->_renderWindow) {
             pixelRatio = _renderControl->_renderWindow->devicePixelRatio();
-        } else {
-            pixelRatio = AbstractViewStateInterface::instance()->getDevicePixelRatio();
-        }
+        } 
 
         uvec2 newOffscreenSize = toGlm(newSize * pixelRatio);
         _textures.setSize(newOffscreenSize);
diff --git a/libraries/render-utils/src/OffscreenQmlSurface.h b/libraries/gl/src/gl/OffscreenQmlSurface.h
similarity index 100%
rename from libraries/render-utils/src/OffscreenQmlSurface.h
rename to libraries/gl/src/gl/OffscreenQmlSurface.h
diff --git a/libraries/render-utils/src/OglplusHelpers.cpp b/libraries/gl/src/gl/OglplusHelpers.cpp
similarity index 100%
rename from libraries/render-utils/src/OglplusHelpers.cpp
rename to libraries/gl/src/gl/OglplusHelpers.cpp
diff --git a/libraries/render-utils/src/OglplusHelpers.h b/libraries/gl/src/gl/OglplusHelpers.h
similarity index 100%
rename from libraries/render-utils/src/OglplusHelpers.h
rename to libraries/gl/src/gl/OglplusHelpers.h
diff --git a/libraries/gpu/CMakeLists.txt b/libraries/gpu/CMakeLists.txt
index 63da1d8f8a..29115af22f 100644
--- a/libraries/gpu/CMakeLists.txt
+++ b/libraries/gpu/CMakeLists.txt
@@ -1,7 +1,7 @@
 set(TARGET_NAME gpu)
 AUTOSCRIBE_SHADER_LIB(gpu)
 setup_hifi_library()
-link_hifi_libraries(shared)
+link_hifi_libraries(shared gl)
 
 target_glew()
 target_opengl()
\ No newline at end of file
diff --git a/libraries/gpu/src/gpu/GLBackend.h b/libraries/gpu/src/gpu/GLBackend.h
index 9cb988a431..6c359d81f1 100644
--- a/libraries/gpu/src/gpu/GLBackend.h
+++ b/libraries/gpu/src/gpu/GLBackend.h
@@ -18,7 +18,7 @@
 #include <utility>
 #include <list>
 
-#include "GPUConfig.h"
+#include <gl/Config.h>
 
 #include "Context.h"
 
diff --git a/libraries/input-plugins/src/input-plugins/SixenseManager.cpp b/libraries/input-plugins/src/input-plugins/SixenseManager.cpp
index 3950fdea43..8ea05fc300 100644
--- a/libraries/input-plugins/src/input-plugins/SixenseManager.cpp
+++ b/libraries/input-plugins/src/input-plugins/SixenseManager.cpp
@@ -167,7 +167,10 @@ void SixenseManager::update(float deltaTime, bool jointsCaptured) {
 
     if (sixenseGetNumActiveControllers() == 0) {
         if (_hydrasConnected) {
-            qCDebug(inputplugins, "hydra disconnected");
+            qCDebug(inputplugins) << "hydra disconnected" << _badDataCount;
+            if (_badDataCount++ < _allowedBadDataCount) { // gotta get some no-active in a row before we shut things down
+                return;
+            }
         }
         _hydrasConnected = false;
         if (_deviceID != 0) {
@@ -181,6 +184,7 @@ void SixenseManager::update(float deltaTime, bool jointsCaptured) {
     PerformanceTimer perfTimer("sixense");
     if (!_hydrasConnected) {
         _hydrasConnected = true;
+        _badDataCount = 0;
         registerToUserInputMapper(*userInputMapper);
         assignDefaultInputMapping(*userInputMapper);
         UserActivityLogger::getInstance().connectedDevice("spatial_controller", "hydra");
@@ -555,6 +559,7 @@ void SixenseManager::saveSettings() const {
         settings.setVec3Value(QString("avatarPosition"), _avatarPosition);
         settings.setQuatValue(QString("avatarRotation"), _avatarRotation);
         settings.setValue(QString("reachLength"), QVariant(_reachLength));
+        settings.setValue(QString("allowedHydraFailures"), 120);
     }
     settings.endGroup();
 }
@@ -567,6 +572,7 @@ void SixenseManager::loadSettings() {
         settings.getVec3ValueIfValid(QString("avatarPosition"), _avatarPosition);
         settings.getQuatValueIfValid(QString("avatarRotation"), _avatarRotation);
         settings.getFloatValueIfValid(QString("reachLength"), _reachLength);
+        _allowedBadDataCount = settings.value(QString("allowedHydraFailures"), 120).toInt();
     }
     settings.endGroup();
 }
diff --git a/libraries/input-plugins/src/input-plugins/SixenseManager.h b/libraries/input-plugins/src/input-plugins/SixenseManager.h
index 9fa7f84a86..90bd830650 100644
--- a/libraries/input-plugins/src/input-plugins/SixenseManager.h
+++ b/libraries/input-plugins/src/input-plugins/SixenseManager.h
@@ -114,6 +114,8 @@ private:
 #endif
     
     bool _hydrasConnected;
+    int _badDataCount;
+    int _allowedBadDataCount;
 
     static const QString NAME;
     static const QString HYDRA_ID_STRING;
diff --git a/libraries/physics/src/CharacterController.cpp b/libraries/physics/src/CharacterController.cpp
new file mode 100644
index 0000000000..aadf9b16ea
--- /dev/null
+++ b/libraries/physics/src/CharacterController.cpp
@@ -0,0 +1,52 @@
+//
+//  CharacterControllerInterface.cpp
+//  libraries/physcis/src
+//
+//  Created by Andrew Meadows 2015.10.21
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include "CharacterController.h"
+
+#include "PhysicsCollisionGroups.h"
+
+bool CharacterController::needsRemoval() const {
+    return (bool)(_pendingFlags & PENDING_FLAG_REMOVE_FROM_SIMULATION);
+}
+
+bool CharacterController::needsAddition() const {
+    return (bool)(_pendingFlags & PENDING_FLAG_ADD_TO_SIMULATION);
+}
+
+void CharacterController::setDynamicsWorld(btDynamicsWorld* world) {
+    if (_dynamicsWorld != world) {
+        if (_dynamicsWorld) { 
+            if (_rigidBody) {
+                _dynamicsWorld->removeRigidBody(_rigidBody);
+                _dynamicsWorld->removeAction(this);
+            }
+            _dynamicsWorld = nullptr;
+        }
+        if (world && _rigidBody) {
+            _dynamicsWorld = world;
+            _pendingFlags &= ~PENDING_FLAG_JUMP;
+            _dynamicsWorld->addRigidBody(_rigidBody, COLLISION_GROUP_MY_AVATAR, COLLISION_MASK_MY_AVATAR);
+            _dynamicsWorld->addAction(this);
+            //reset(_dynamicsWorld);
+        }
+    }
+    if (_dynamicsWorld) {
+        if (_pendingFlags & PENDING_FLAG_UPDATE_SHAPE) {
+            // shouldn't fall in here, but if we do make sure both ADD and REMOVE bits are still set
+            _pendingFlags |= PENDING_FLAG_ADD_TO_SIMULATION | PENDING_FLAG_REMOVE_FROM_SIMULATION;
+        } else {
+            _pendingFlags &= ~PENDING_FLAG_ADD_TO_SIMULATION;
+        }
+    } else {
+        _pendingFlags &= ~PENDING_FLAG_REMOVE_FROM_SIMULATION;
+    }
+}   
+
diff --git a/libraries/physics/src/CharacterController.h b/libraries/physics/src/CharacterController.h
new file mode 100644
index 0000000000..e9e6f1328e
--- /dev/null
+++ b/libraries/physics/src/CharacterController.h
@@ -0,0 +1,59 @@
+//
+//  CharacterControllerInterface.h
+//  libraries/physcis/src
+//
+//  Created by Andrew Meadows 2015.10.21
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_CharacterControllerInterface_h
+#define hifi_CharacterControllerInterface_h
+
+#include <assert.h>
+#include <stdint.h>
+#include <btBulletDynamicsCommon.h>
+#include <BulletDynamics/Character/btCharacterControllerInterface.h>
+
+const uint32_t PENDING_FLAG_ADD_TO_SIMULATION = 1U << 0;
+const uint32_t PENDING_FLAG_REMOVE_FROM_SIMULATION = 1U << 1;
+const uint32_t PENDING_FLAG_UPDATE_SHAPE = 1U << 2;
+const uint32_t PENDING_FLAG_JUMP = 1U << 3;
+
+
+class btRigidBody;
+class btCollisionWorld;
+class btDynamicsWorld;
+
+class CharacterController : public btCharacterControllerInterface {
+public:
+    bool needsRemoval() const;
+    bool needsAddition() const;
+    void setDynamicsWorld(btDynamicsWorld* world);
+    btCollisionObject* getCollisionObject() { return _rigidBody; }
+
+    virtual void updateShapeIfNecessary() = 0;
+    virtual void preSimulation() = 0;
+    virtual void postSimulation() = 0;
+
+    virtual void setWalkDirection(const btVector3 &walkDirection) { assert(false); }
+
+    /* these from btCharacterControllerInterface remain to be overridden
+    virtual void setVelocityForTimeInterval(const btVector3 &velocity, btScalar timeInterval) = 0;
+    virtual void reset() = 0;
+    virtual void warp(const btVector3 &origin) = 0;
+    virtual void preStep(btCollisionWorld *collisionWorld) = 0;
+    virtual void playerStep(btCollisionWorld *collisionWorld, btScalar dt) = 0;
+    virtual bool canJump() const = 0;
+    virtual void jump() = 0;
+    virtual bool onGround() const = 0;
+    */
+protected:
+    btDynamicsWorld* _dynamicsWorld { nullptr };
+    btRigidBody* _rigidBody { nullptr };
+    uint32_t _pendingFlags { 0 };
+};
+
+#endif // hifi_CharacterControllerInterface_h
diff --git a/libraries/physics/src/DynamicCharacterController.h b/libraries/physics/src/DynamicCharacterController.h
deleted file mode 100644
index d26c69c5a5..0000000000
--- a/libraries/physics/src/DynamicCharacterController.h
+++ /dev/null
@@ -1,95 +0,0 @@
-#ifndef hifi_DynamicCharacterController_h
-#define hifi_DynamicCharacterController_h
-
-#include <btBulletDynamicsCommon.h>
-#include <BulletDynamics/Character/btCharacterControllerInterface.h>
-
-#include <AvatarData.h>
-
-class btCollisionShape;
-class btRigidBody;
-class btCollisionWorld;
-
-const int NUM_CHARACTER_CONTROLLER_RAYS = 2;
-
-class DynamicCharacterController : public btCharacterControllerInterface
-{
-protected:
-    btScalar _halfHeight;
-    btScalar _radius;
-    btCollisionShape* _shape;
-    btRigidBody* _rigidBody;
-
-    btVector3 _currentUp;
-
-    btScalar _floorDistance;
-
-    btVector3 _walkVelocity;
-    btScalar _gravity;
-
-    glm::vec3 _shapeLocalOffset;
-    glm::vec3 _boxScale; // used to compute capsule shape
-    AvatarData* _avatarData = nullptr;
-
-    bool _enabled;
-    bool _isOnGround;
-    bool _isJumping;
-    bool _isFalling;
-    bool _isHovering;
-    bool _isPushingUp;
-    quint64 _jumpToHoverStart;
-    uint32_t _pendingFlags;
-
-    btDynamicsWorld* _dynamicsWorld = nullptr;
-
-    btScalar _jumpSpeed;
-
-public:
-    DynamicCharacterController(AvatarData* avatarData);
-    ~DynamicCharacterController ();
-
-    virtual void setWalkDirection(const btVector3& walkDirection);
-    virtual void setVelocityForTimeInterval(const btVector3 &velocity, btScalar timeInterval) { assert(false); }
-
-    // TODO: implement these when needed
-    virtual void reset(btCollisionWorld* collisionWorld) { }
-    virtual void warp(const btVector3& origin) { }
-    virtual void debugDraw(btIDebugDraw* debugDrawer) { }
-    virtual void setUpInterpolate(bool value) { }
-
-    btCollisionObject* getCollisionObject() { return _rigidBody; }
-
-    ///btActionInterface interface
-    virtual void updateAction(btCollisionWorld* collisionWorld, btScalar deltaTime) {
-        preStep(collisionWorld);
-        playerStep(collisionWorld, deltaTime);
-    }
-
-    virtual void preStep(btCollisionWorld* collisionWorld);
-    virtual void playerStep(btCollisionWorld* collisionWorld, btScalar dt);
-
-    virtual bool canJump() const { assert(false); return false; } // never call this
-    virtual void jump(); // call this every frame the jump button is pressed
-    virtual bool onGround() const;
-    bool isHovering() const { return _isHovering; }
-    void setHovering(bool enabled);
-
-    bool needsRemoval() const;
-    bool needsAddition() const;
-    void setEnabled(bool enabled);
-    bool isEnabled() const { return _enabled && _dynamicsWorld; }
-
-    void setDynamicsWorld(btDynamicsWorld* world);
-
-    void setLocalBoundingBox(const glm::vec3& corner, const glm::vec3& scale);
-    bool needsShapeUpdate() const;
-    void updateShapeIfNecessary();
-
-    void preSimulation(btScalar timeStep);
-    void postSimulation();
-
-protected:
-    void updateUpAxis(const glm::quat& rotation);
-};
-
-#endif // hifi_DynamicCharacterController_h
diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index 75273e62ba..d6772f8d36 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -11,6 +11,7 @@
 
 #include <PhysicsCollisionGroups.h>
 
+#include "CharacterController.h"
 #include "ObjectMotionState.h"
 #include "PhysicsEngine.h"
 #include "PhysicsHelpers.h"
@@ -23,7 +24,7 @@ uint32_t PhysicsEngine::getNumSubsteps() {
 
 PhysicsEngine::PhysicsEngine(const glm::vec3& offset) :
         _originOffset(offset),
-        _characterController(nullptr) {
+        _myAvatarController(nullptr) {
     // build table of masks with their group as the key
     _collisionMasks.insert(btHashInt((int)COLLISION_GROUP_DEFAULT), COLLISION_MASK_DEFAULT);
     _collisionMasks.insert(btHashInt((int)COLLISION_GROUP_STATIC), COLLISION_MASK_STATIC);
@@ -38,8 +39,8 @@ PhysicsEngine::PhysicsEngine(const glm::vec3& offset) :
 }
 
 PhysicsEngine::~PhysicsEngine() {
-    if (_characterController) {
-        _characterController->setDynamicsWorld(nullptr);
+    if (_myAvatarController) {
+        _myAvatarController->setDynamicsWorld(nullptr);
     }
     delete _collisionConfig;
     delete _collisionDispatcher;
@@ -239,16 +240,23 @@ void PhysicsEngine::stepSimulation() {
     _clock.reset();
     float timeStep = btMin(dt, MAX_TIMESTEP);
 
-    // TODO: move character->preSimulation() into relayIncomingChanges
-    if (_characterController) {
-        if (_characterController->needsRemoval()) {
-            _characterController->setDynamicsWorld(nullptr);
+    if (_myAvatarController) {
+        // ADEBUG TODO: move this stuff outside and in front of stepSimulation, because 
+        // the updateShapeIfNecessary() call needs info from MyAvatar and should
+        // be done on the main thread during the pre-simulation stuff
+        if (_myAvatarController->needsRemoval()) {
+            _myAvatarController->setDynamicsWorld(nullptr);
+
+            // We must remove any existing contacts for the avatar so that any new contacts will have
+            // valid data.  MyAvatar's RigidBody is the ONLY one in the simulation that does not yet 
+            // have a MotionState so we pass nullptr to removeContacts().
+            removeContacts(nullptr);
         }
-        _characterController->updateShapeIfNecessary();
-        if (_characterController->needsAddition()) {
-            _characterController->setDynamicsWorld(_dynamicsWorld);
+        _myAvatarController->updateShapeIfNecessary();
+        if (_myAvatarController->needsAddition()) {
+            _myAvatarController->setDynamicsWorld(_dynamicsWorld);
         }
-        _characterController->preSimulation(timeStep);
+        _myAvatarController->preSimulation();
     }
 
     int numSubsteps = _dynamicsWorld->stepSimulation(timeStep, PHYSICS_ENGINE_MAX_NUM_SUBSTEPS, PHYSICS_ENGINE_FIXED_SUBSTEP);
@@ -257,8 +265,8 @@ void PhysicsEngine::stepSimulation() {
         _numSubsteps += (uint32_t)numSubsteps;
         ObjectMotionState::setWorldSimulationStep(_numSubsteps);
 
-        if (_characterController) {
-            _characterController->postSimulation();
+        if (_myAvatarController) {
+            _myAvatarController->postSimulation();
         }
         updateContactMap();
         _hasOutgoingChanges = true;
@@ -268,7 +276,7 @@ void PhysicsEngine::stepSimulation() {
 void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const btCollisionObject* objectB) {
     BT_PROFILE("ownershipInfection");
 
-    const btCollisionObject* characterObject = _characterController ? _characterController->getCollisionObject() : nullptr;
+    const btCollisionObject* characterObject = _myAvatarController ? _myAvatarController->getCollisionObject() : nullptr;
 
     ObjectMotionState* motionStateA = static_cast<ObjectMotionState*>(objectA->getUserPointer());
     ObjectMotionState* motionStateB = static_cast<ObjectMotionState*>(objectB->getUserPointer());
@@ -431,15 +439,15 @@ void PhysicsEngine::bump(ObjectMotionState* motionState) {
     }
 }
 
-void PhysicsEngine::setCharacterController(DynamicCharacterController* character) {
-    if (_characterController != character) {
-        if (_characterController) {
+void PhysicsEngine::setCharacterController(CharacterController* character) {
+    if (_myAvatarController != character) {
+        if (_myAvatarController) {
             // remove the character from the DynamicsWorld immediately
-            _characterController->setDynamicsWorld(nullptr);
-            _characterController = nullptr;
+            _myAvatarController->setDynamicsWorld(nullptr);
+            _myAvatarController = nullptr;
         }
         // the character will be added to the DynamicsWorld later
-        _characterController = character;
+        _myAvatarController = character;
     }
 }
 
diff --git a/libraries/physics/src/PhysicsEngine.h b/libraries/physics/src/PhysicsEngine.h
index 0a317652da..e7b5fd79d4 100644
--- a/libraries/physics/src/PhysicsEngine.h
+++ b/libraries/physics/src/PhysicsEngine.h
@@ -21,13 +21,14 @@
 
 #include "BulletUtil.h"
 #include "ContactInfo.h"
-#include "DynamicCharacterController.h"
 #include "ObjectMotionState.h"
 #include "ThreadSafeDynamicsWorld.h"
 #include "ObjectAction.h"
 
 const float HALF_SIMULATION_EXTENT = 512.0f; // meters
 
+class CharacterController;
+
 // simple class for keeping track of contacts
 class ContactKey {
 public:
@@ -87,7 +88,7 @@ public:
 
     void removeRigidBody(btRigidBody* body);
 
-    void setCharacterController(DynamicCharacterController* character);
+    void setCharacterController(CharacterController* character);
 
     void dumpNextStats() { _dumpNextStats = true; }
 
@@ -117,7 +118,7 @@ private:
     uint32_t _lastNumSubstepsAtUpdateInternal = 0;
 
     /// character collisions
-    DynamicCharacterController* _characterController = NULL;
+    CharacterController* _myAvatarController;
 
     bool _dumpNextStats = false;
     bool _hasOutgoingChanges = false;
diff --git a/libraries/render-utils/src/GeometryCache.cpp b/libraries/render-utils/src/GeometryCache.cpp
index 3fcd556dbb..eed52fccbc 100644
--- a/libraries/render-utils/src/GeometryCache.cpp
+++ b/libraries/render-utils/src/GeometryCache.cpp
@@ -19,8 +19,6 @@
 #include <FSTReader.h>
 #include <NumericalConstants.h>
 
-#include <gpu/GLBackend.h>
-
 #include "TextureCache.h"
 #include "RenderUtilsLogging.h"
 
@@ -573,8 +571,8 @@ void GeometryCache::renderGrid(gpu::Batch& batch, int xDivisions, int yDivisions
     if (!_gridBuffers.contains(key)) {
         auto verticesBuffer = std::make_shared<gpu::Buffer>();
 
-        GLfloat* vertexData = new GLfloat[vertices * 2];
-        GLfloat* vertex = vertexData;
+        float* vertexData = new float[vertices * 2];
+        float* vertex = vertexData;
 
         for (int i = 0; i <= xDivisions; i++) {
             float x = (float)i / xDivisions;
@@ -595,7 +593,7 @@ void GeometryCache::renderGrid(gpu::Batch& batch, int xDivisions, int yDivisions
             *(vertex++) = y;
         }
 
-        verticesBuffer->append(sizeof(GLfloat) * vertices * 2, (gpu::Byte*) vertexData);
+        verticesBuffer->append(sizeof(float) * vertices * 2, (gpu::Byte*) vertexData);
         delete[] vertexData;
         
         _gridBuffers[key] = verticesBuffer;
@@ -674,8 +672,8 @@ void GeometryCache::renderGrid(gpu::Batch& batch, int x, int y, int width, int h
             _alternateGridBuffers[key] = verticesBuffer;
         }
 
-        GLfloat* vertexData = new GLfloat[vertices * 2];
-        GLfloat* vertex = vertexData;
+        float* vertexData = new float[vertices * 2];
+        float* vertex = vertexData;
 
         int dx = width / cols;
         int dy = height / rows;
@@ -702,7 +700,7 @@ void GeometryCache::renderGrid(gpu::Batch& batch, int x, int y, int width, int h
             tx += dx;
         }
 
-        verticesBuffer->append(sizeof(GLfloat) * vertices * 2, (gpu::Byte*) vertexData);
+        verticesBuffer->append(sizeof(float) * vertices * 2, (gpu::Byte*) vertexData);
         delete[] vertexData;
     }
 
@@ -785,8 +783,8 @@ void GeometryCache::updateVertices(int id, const QVector<glm::vec2>& points, con
                         ((int(color.z * 255.0f) & 0xFF) << 16) |
                         ((int(color.w * 255.0f) & 0xFF) << 24);
 
-    GLfloat* vertexData = new GLfloat[details.vertices * FLOATS_PER_VERTEX];
-    GLfloat* vertex = vertexData;
+    float* vertexData = new float[details.vertices * FLOATS_PER_VERTEX];
+    float* vertex = vertexData;
 
     int* colorData = new int[details.vertices];
     int* colorDataAt = colorData;
@@ -798,7 +796,7 @@ void GeometryCache::updateVertices(int id, const QVector<glm::vec2>& points, con
         *(colorDataAt++) = compactColor;
     }
 
-    details.verticesBuffer->append(sizeof(GLfloat) * FLOATS_PER_VERTEX * details.vertices, (gpu::Byte*) vertexData);
+    details.verticesBuffer->append(sizeof(float) * FLOATS_PER_VERTEX * details.vertices, (gpu::Byte*) vertexData);
     details.colorBuffer->append(sizeof(int) * details.vertices, (gpu::Byte*) colorData);
     delete[] vertexData;
     delete[] colorData;
@@ -846,8 +844,8 @@ void GeometryCache::updateVertices(int id, const QVector<glm::vec3>& points, con
                         ((int(color.z * 255.0f) & 0xFF) << 16) |
                         ((int(color.w * 255.0f) & 0xFF) << 24);
 
-    GLfloat* vertexData = new GLfloat[details.vertices * FLOATS_PER_VERTEX];
-    GLfloat* vertex = vertexData;
+    float* vertexData = new float[details.vertices * FLOATS_PER_VERTEX];
+    float* vertex = vertexData;
 
     int* colorData = new int[details.vertices];
     int* colorDataAt = colorData;
@@ -860,7 +858,7 @@ void GeometryCache::updateVertices(int id, const QVector<glm::vec3>& points, con
         *(colorDataAt++) = compactColor;
     }
 
-    details.verticesBuffer->append(sizeof(GLfloat) * FLOATS_PER_VERTEX * details.vertices, (gpu::Byte*) vertexData);
+    details.verticesBuffer->append(sizeof(float) * FLOATS_PER_VERTEX * details.vertices, (gpu::Byte*) vertexData);
     details.colorBuffer->append(sizeof(int) * details.vertices, (gpu::Byte*) colorData);
     delete[] vertexData;
     delete[] colorData;
@@ -912,8 +910,8 @@ void GeometryCache::updateVertices(int id, const QVector<glm::vec3>& points, con
                         ((int(color.z * 255.0f) & 0xFF) << 16) |
                         ((int(color.w * 255.0f) & 0xFF) << 24);
 
-    GLfloat* vertexData = new GLfloat[details.vertices * FLOATS_PER_VERTEX];
-    GLfloat* vertex = vertexData;
+    float* vertexData = new float[details.vertices * FLOATS_PER_VERTEX];
+    float* vertex = vertexData;
 
     int* colorData = new int[details.vertices];
     int* colorDataAt = colorData;
@@ -930,7 +928,7 @@ void GeometryCache::updateVertices(int id, const QVector<glm::vec3>& points, con
         *(colorDataAt++) = compactColor;
     }
 
-    details.verticesBuffer->append(sizeof(GLfloat) * FLOATS_PER_VERTEX * details.vertices, (gpu::Byte*) vertexData);
+    details.verticesBuffer->append(sizeof(float) * FLOATS_PER_VERTEX * details.vertices, (gpu::Byte*) vertexData);
     details.colorBuffer->append(sizeof(int) * details.vertices, (gpu::Byte*) colorData);
     delete[] vertexData;
     delete[] colorData;
@@ -997,7 +995,7 @@ void GeometryCache::renderBevelCornersRect(gpu::Batch& batch, int x, int y, int
         details.stream->addBuffer(details.colorBuffer, 0, details.streamFormat->getChannels().at(1)._stride);
 
 
-        GLfloat vertexBuffer[NUM_FLOATS]; // only vertices, no normals because we're a 2D quad
+        float vertexBuffer[NUM_FLOATS]; // only vertices, no normals because we're a 2D quad
         int vertexPoint = 0;
 
         // Triangle strip points
@@ -1438,8 +1436,8 @@ void GeometryCache::renderDashedLine(gpu::Batch& batch, const glm::vec3& start,
         int* colorData = new int[details.vertices];
         int* colorDataAt = colorData;
 
-        GLfloat* vertexData = new GLfloat[details.vertices * FLOATS_PER_VERTEX];
-        GLfloat* vertex = vertexData;
+        float* vertexData = new float[details.vertices * FLOATS_PER_VERTEX];
+        float* vertex = vertexData;
 
         glm::vec3 point = start;
         *(vertex++) = point.x;
@@ -1465,7 +1463,7 @@ void GeometryCache::renderDashedLine(gpu::Batch& batch, const glm::vec3& start,
         *(vertex++) = end.z;
         *(colorDataAt++) = compactColor;
 
-        details.verticesBuffer->append(sizeof(GLfloat) * FLOATS_PER_VERTEX * details.vertices, (gpu::Byte*) vertexData);
+        details.verticesBuffer->append(sizeof(float) * FLOATS_PER_VERTEX * details.vertices, (gpu::Byte*) vertexData);
         details.colorBuffer->append(sizeof(int) * details.vertices, (gpu::Byte*) colorData);
         delete[] vertexData;
         delete[] colorData;
diff --git a/libraries/render-utils/src/MeshPartPayload.cpp b/libraries/render-utils/src/MeshPartPayload.cpp
index 30b72891dd..44acb61a52 100644
--- a/libraries/render-utils/src/MeshPartPayload.cpp
+++ b/libraries/render-utils/src/MeshPartPayload.cpp
@@ -229,7 +229,7 @@ void MeshPartPayload::bindTransform(gpu::Batch& batch, const ModelRender::Locati
 
 void MeshPartPayload::render(RenderArgs* args) const {
     PerformanceTimer perfTimer("MeshPartPayload::render");
-    if (!model->_readyWhenAdded) {
+    if (!model->_readyWhenAdded || !model->_isVisible) {
         return; // bail asap
     }
 
diff --git a/libraries/script-engine/src/ScriptEngine.cpp b/libraries/script-engine/src/ScriptEngine.cpp
index 91df9fa793..46dbe7576c 100644
--- a/libraries/script-engine/src/ScriptEngine.cpp
+++ b/libraries/script-engine/src/ScriptEngine.cpp
@@ -79,11 +79,41 @@ void avatarDataFromScriptValue(const QScriptValue &object, AvatarData* &out) {
 QScriptValue inputControllerToScriptValue(QScriptEngine *engine, AbstractInputController* const &in) {
     return engine->newQObject(in);
 }
-
 void inputControllerFromScriptValue(const QScriptValue &object, AbstractInputController* &out) {
     out = qobject_cast<AbstractInputController*>(object.toQObject());
 }
 
+static bool hasCorrectSyntax(const QScriptProgram& program) {
+    const auto syntaxCheck = QScriptEngine::checkSyntax(program.sourceCode());
+    if (syntaxCheck.state() != QScriptSyntaxCheckResult::Valid) {
+        const auto error = syntaxCheck.errorMessage();
+        const auto line = QString::number(syntaxCheck.errorLineNumber());
+        const auto column = QString::number(syntaxCheck.errorColumnNumber());
+        const auto message = QString("[SyntaxError] %1 in %2:%3(%4)").arg(error, program.fileName(), line, column);
+        qCWarning(scriptengine) << qPrintable(message);
+        return false;
+    }
+    return true;
+}
+
+static bool hadUncaughtExceptions(QScriptEngine& engine, const QString& fileName) {
+    if (engine.hasUncaughtException()) {
+        const auto backtrace = engine.uncaughtExceptionBacktrace();
+        const auto exception = engine.uncaughtException().toString();
+        const auto line = QString::number(engine.uncaughtExceptionLineNumber());
+        engine.clearExceptions();
+        
+        auto message = QString("[UncaughtException] %1 in %2:%3").arg(exception, fileName, line);
+        if (!backtrace.empty()) {
+            static const auto lineSeparator = "\n    ";
+            message += QString("\n[Backtrace]%1%2").arg(lineSeparator, backtrace.join(lineSeparator));
+        }
+        qCWarning(scriptengine) << qPrintable(message);
+        return true;
+    }
+    return false;
+}
+
 ScriptEngine::ScriptEngine(const QString& scriptContents, const QString& fileNameString,
             AbstractControllerScriptingInterface* controllerScriptingInterface, bool wantSignals) :
 
@@ -95,9 +125,6 @@ ScriptEngine::ScriptEngine(const QString& scriptContents, const QString& fileNam
     _wantSignals(wantSignals),
     _controllerScriptingInterface(controllerScriptingInterface),
     _fileNameString(fileNameString),
-    _quatLibrary(),
-    _vec3Library(),
-    _uuidLibrary(),
     _isUserLoaded(false),
     _isReloading(false),
     _arrayBufferClass(new ArrayBufferClass(this))
@@ -531,26 +558,33 @@ void ScriptEngine::addEventHandler(const EntityItemID& entityID, const QString&
         // Connect up ALL the handlers to the global entities object's signals.
         // (We could go signal by signal, or even handler by handler, but I don't think the efficiency is worth the complexity.)
         auto entities = DependencyManager::get<EntityScriptingInterface>();
-        connect(entities.data(), &EntityScriptingInterface::deletingEntity, this,
-                [=](const EntityItemID& entityID) {
-                    _registeredHandlers.remove(entityID);
-                });
-
+        connect(entities.data(), &EntityScriptingInterface::deletingEntity, this, [this](const EntityItemID& entityID) {
+            _registeredHandlers.remove(entityID);
+        });
+        
         // Two common cases of event handler, differing only in argument signature.
-        auto makeSingleEntityHandler = [=](const QString& eventName) -> std::function<void(const EntityItemID&)> {
-            return [=](const EntityItemID& entityItemID) -> void {
-                generalHandler(entityItemID, eventName, [=]() -> QScriptValueList {
-                    return QScriptValueList() << entityItemID.toScriptValue(this);
-                });
+        using SingleEntityHandler = std::function<void(const EntityItemID&)>;
+        auto makeSingleEntityHandler = [this](QString eventName) -> SingleEntityHandler {
+            return [this, eventName](const EntityItemID& entityItemID) {
+                forwardHandlerCall(entityItemID, eventName, { entityItemID.toScriptValue(this) });
             };
         };
-        auto makeMouseHandler = [=](const QString& eventName) -> std::function<void(const EntityItemID&, const MouseEvent&)>  {
-            return [=](const EntityItemID& entityItemID, const MouseEvent& event) -> void {
-                generalHandler(entityItemID, eventName, [=]() -> QScriptValueList {
-                    return QScriptValueList() << entityItemID.toScriptValue(this) << event.toScriptValue(this);
-                });
+        
+        using MouseHandler = std::function<void(const EntityItemID&, const MouseEvent&)>;
+        auto makeMouseHandler = [this](QString eventName) -> MouseHandler {
+            return [this, eventName](const EntityItemID& entityItemID, const MouseEvent& event) {
+                forwardHandlerCall(entityItemID, eventName, { entityItemID.toScriptValue(this), event.toScriptValue(this) });
             };
         };
+        
+        using CollisionHandler = std::function<void(const EntityItemID&, const EntityItemID&, const Collision&)>;
+        auto makeCollisionHandler = [this](QString eventName) -> CollisionHandler {
+            return [this, eventName](const EntityItemID& idA, const EntityItemID& idB, const Collision& collision) {
+                forwardHandlerCall(idA, eventName, { idA.toScriptValue(this), idB.toScriptValue(this),
+                                                     collisionToScriptValue(this, collision) });
+            };
+        };
+        
         connect(entities.data(), &EntityScriptingInterface::enterEntity, this, makeSingleEntityHandler("enterEntity"));
         connect(entities.data(), &EntityScriptingInterface::leaveEntity, this, makeSingleEntityHandler("leaveEntity"));
 
@@ -566,12 +600,7 @@ void ScriptEngine::addEventHandler(const EntityItemID& entityID, const QString&
         connect(entities.data(), &EntityScriptingInterface::hoverOverEntity, this, makeMouseHandler("hoverOverEntity"));
         connect(entities.data(), &EntityScriptingInterface::hoverLeaveEntity, this, makeMouseHandler("hoverLeaveEntity"));
 
-        connect(entities.data(), &EntityScriptingInterface::collisionWithEntity, this,
-                [=](const EntityItemID& idA, const EntityItemID& idB, const Collision& collision) {
-                    generalHandler(idA, "collisionWithEntity", [=]() {
-                        return QScriptValueList () << idA.toScriptValue(this) << idB.toScriptValue(this) << collisionToScriptValue(this, collision);
-                    });
-                });
+        connect(entities.data(), &EntityScriptingInterface::collisionWithEntity, this, makeCollisionHandler("collisionWithEntity"));
     }
     if (!_registeredHandlers.contains(entityID)) {
         _registeredHandlers[entityID] = RegisteredEventHandlers();
@@ -581,7 +610,7 @@ void ScriptEngine::addEventHandler(const EntityItemID& entityID, const QString&
 }
 
 
-QScriptValue ScriptEngine::evaluate(const QString& program, const QString& fileName, int lineNumber) {
+QScriptValue ScriptEngine::evaluate(const QString& sourceCode, const QString& fileName, int lineNumber) {
     if (_stoppingAllScripts) {
         return QScriptValue(); // bail early
     }
@@ -590,27 +619,30 @@ QScriptValue ScriptEngine::evaluate(const QString& program, const QString& fileN
         QScriptValue result;
         #ifdef THREAD_DEBUGGING
         qDebug() << "*** WARNING *** ScriptEngine::evaluate() called on wrong thread [" << QThread::currentThread() << "], invoking on correct thread [" << thread() << "] "
-            "program:" << program << " fileName:" << fileName << "lineNumber:" << lineNumber;
+            "sourceCode:" << sourceCode << " fileName:" << fileName << "lineNumber:" << lineNumber;
         #endif
         QMetaObject::invokeMethod(this, "evaluate", Qt::BlockingQueuedConnection,
             Q_RETURN_ARG(QScriptValue, result),
-            Q_ARG(const QString&, program),
+            Q_ARG(const QString&, sourceCode),
             Q_ARG(const QString&, fileName),
             Q_ARG(int, lineNumber));
         return result;
     }
+    
+    // Check syntax
+    const QScriptProgram program(sourceCode, fileName, lineNumber);
+    if (!hasCorrectSyntax(program)) {
+        return QScriptValue();
+    }
 
-    _evaluatesPending++;
-    QScriptValue result = QScriptEngine::evaluate(program, fileName, lineNumber);
-    if (hasUncaughtException()) {
-        int line = uncaughtExceptionLineNumber();
-        qCDebug(scriptengine) << "Uncaught exception at (" << _fileNameString << " : " << fileName << ") line" << line << ": " << result.toString();
-    }
-    _evaluatesPending--;
+    ++_evaluatesPending;
+    const auto result = QScriptEngine::evaluate(program);
+    --_evaluatesPending;
+    
+    const auto hadUncaughtException = hadUncaughtExceptions(*this, program.fileName());
     if (_wantSignals) {
-        emit evaluationFinished(result, hasUncaughtException());
+        emit evaluationFinished(result, hadUncaughtException);
     }
-    clearExceptions();
     return result;
 }
 
@@ -628,7 +660,7 @@ void ScriptEngine::run() {
         emit runningStateChanged();
     }
 
-    QScriptValue result = evaluate(_scriptContents);
+    QScriptValue result = evaluate(_scriptContents, _fileNameString);
 
     QElapsedTimer startTime;
     startTime.start();
@@ -669,15 +701,6 @@ void ScriptEngine::run() {
         qint64 now = usecTimestampNow();
         float deltaTime = (float) (now - lastUpdate) / (float) USECS_PER_SECOND;
 
-        if (hasUncaughtException()) {
-            int line = uncaughtExceptionLineNumber();
-            qCDebug(scriptengine) << "Uncaught exception at (" << _fileNameString << ") line" << line << ":" << uncaughtException().toString();
-            if (_wantSignals) {
-                emit errorMessage("Uncaught exception at (" + _fileNameString + ") line" + QString::number(line) + ":" + uncaughtException().toString());
-            }
-            clearExceptions();
-        }
-
         if (!_isFinished) {
             if (_wantSignals) {
                 emit update(deltaTime);
@@ -685,6 +708,8 @@ void ScriptEngine::run() {
         }
         lastUpdate = now;
 
+        // Debug and clear exceptions
+        hadUncaughtExceptions(*this, _fileNameString);
     }
 
     stopAllTimers(); // make sure all our timers are stopped if the script is ending
@@ -943,9 +968,9 @@ void ScriptEngine::load(const QString& loadFile) {
 }
 
 // Look up the handler associated with eventName and entityID. If found, evalute the argGenerator thunk and call the handler with those args
-void ScriptEngine::generalHandler(const EntityItemID& entityID, const QString& eventName, std::function<QScriptValueList()> argGenerator) {
+void ScriptEngine::forwardHandlerCall(const EntityItemID& entityID, const QString& eventName, QScriptValueList eventHanderArgs) {
     if (QThread::currentThread() != thread()) {
-        qDebug() << "*** ERROR *** ScriptEngine::generalHandler() called on wrong thread [" << QThread::currentThread() << "], invoking on correct thread [" << thread() << "]";
+        qDebug() << "*** ERROR *** ScriptEngine::forwardHandlerCall() called on wrong thread [" << QThread::currentThread() << "], invoking on correct thread [" << thread() << "]";
         assert(false);
         return ;
     }
@@ -958,9 +983,8 @@ void ScriptEngine::generalHandler(const EntityItemID& entityID, const QString& e
     }
     QScriptValueList handlersForEvent = handlersOnEntity[eventName];
     if (!handlersForEvent.isEmpty()) {
-        QScriptValueList args = argGenerator();
         for (int i = 0; i < handlersForEvent.count(); ++i) {
-            handlersForEvent[i].call(QScriptValue(), args);
+            handlersForEvent[i].call(QScriptValue(), eventHanderArgs);
         }
     }
 }
@@ -1024,14 +1048,10 @@ void ScriptEngine::entityScriptContentAvailable(const EntityItemID& entityID, co
 
     auto scriptCache = DependencyManager::get<ScriptCache>();
     bool isFileUrl = isURL && scriptOrURL.startsWith("file://");
+    auto fileName = QString("(EntityID:%1, %2)").arg(entityID.toString(), isURL ? scriptOrURL : "EmbededEntityScript");
 
-    // first check the syntax of the script contents
-    QScriptSyntaxCheckResult syntaxCheck = QScriptEngine::checkSyntax(contents);
-    if (syntaxCheck.state() != QScriptSyntaxCheckResult::Valid) {
-        qCDebug(scriptengine) << "ScriptEngine::loadEntityScript() entity:" << entityID;
-        qCDebug(scriptengine) << "   " << syntaxCheck.errorMessage() << ":"
-                << syntaxCheck.errorLineNumber() << syntaxCheck.errorColumnNumber();
-        qCDebug(scriptengine) << "    SCRIPT:" << scriptOrURL;
+    QScriptProgram program(contents, fileName);
+    if (!hasCorrectSyntax(program)) {
         if (!isFileUrl) {
             scriptCache->addScriptToBadScriptList(scriptOrURL);
         }
@@ -1043,12 +1063,15 @@ void ScriptEngine::entityScriptContentAvailable(const EntityItemID& entityID, co
     }
 
     QScriptEngine sandbox;
-    QScriptValue testConstructor = sandbox.evaluate(contents);
-
+    QScriptValue testConstructor = sandbox.evaluate(program);
+    if (hadUncaughtExceptions(sandbox, program.fileName())) {
+        return;
+    }
+    
     if (!testConstructor.isFunction()) {
-        qCDebug(scriptengine) << "ScriptEngine::loadEntityScript() entity:" << entityID;
-        qCDebug(scriptengine) << "    NOT CONSTRUCTOR";
-        qCDebug(scriptengine) << "    SCRIPT:" << scriptOrURL;
+        qCDebug(scriptengine) << "ScriptEngine::loadEntityScript() entity:" << entityID << "\n"
+                                 "    NOT CONSTRUCTOR\n"
+                                 "    SCRIPT:" << scriptOrURL;
         if (!isFileUrl) {
             scriptCache->addScriptToBadScriptList(scriptOrURL);
         }
@@ -1061,7 +1084,7 @@ void ScriptEngine::entityScriptContentAvailable(const EntityItemID& entityID, co
         lastModified = (quint64)QFileInfo(file).lastModified().toMSecsSinceEpoch();
     }
 
-    QScriptValue entityScriptConstructor = evaluate(contents);
+    QScriptValue entityScriptConstructor = evaluate(contents, fileName);
     QScriptValue entityScriptObject = entityScriptConstructor.construct();
     EntityScriptDetails newDetails = { scriptOrURL, entityScriptObject, lastModified };
     _entityScripts[entityID] = newDetails;
diff --git a/libraries/script-engine/src/ScriptEngine.h b/libraries/script-engine/src/ScriptEngine.h
index 30468880a2..f6e8ac8dc2 100644
--- a/libraries/script-engine/src/ScriptEngine.h
+++ b/libraries/script-engine/src/ScriptEngine.h
@@ -89,7 +89,7 @@ public:
     Q_INVOKABLE void registerValue(const QString& valueName, QScriptValue value);
 
     /// evaluate some code in the context of the ScriptEngine and return the result
-    Q_INVOKABLE QScriptValue evaluate(const QString& program, const QString& fileName = QString(), int lineNumber = 1); // this is also used by the script tool widget
+    Q_INVOKABLE QScriptValue evaluate(const QString& program, const QString& fileName, int lineNumber = 1); // this is also used by the script tool widget
 
     /// if the script engine is not already running, this will download the URL and start the process of seting it up
     /// to run... NOTE - this is used by Application currently to load the url. We don't really want it to be exposed 
@@ -185,7 +185,7 @@ private:
 
     QObject* setupTimerWithInterval(const QScriptValue& function, int intervalMS, bool isSingleShot);
     void stopTimer(QTimer* timer);
-
+    
     AbstractControllerScriptingInterface* _controllerScriptingInterface;
     QString _fileNameString;
     Quat _quatLibrary;
@@ -197,7 +197,7 @@ private:
     ArrayBufferClass* _arrayBufferClass;
 
     QHash<EntityItemID, RegisteredEventHandlers> _registeredHandlers;
-    void generalHandler(const EntityItemID& entityID, const QString& eventName, std::function<QScriptValueList()> argGenerator);
+    void forwardHandlerCall(const EntityItemID& entityID, const QString& eventName, QScriptValueList eventHanderArgs);
     Q_INVOKABLE void entityScriptContentAvailable(const EntityItemID& entityID, const QString& scriptOrURL, const QString& contents, bool isURL, bool success);
 
     static QSet<ScriptEngine*> _allKnownScriptEngines;
diff --git a/libraries/shared/src/LogHandler.cpp b/libraries/shared/src/LogHandler.cpp
index 22ea12c1b3..cc3519e43e 100644
--- a/libraries/shared/src/LogHandler.cpp
+++ b/libraries/shared/src/LogHandler.cpp
@@ -135,7 +135,7 @@ QString LogHandler::printMessage(LogMsgType type, const QMessageLogContext& cont
         prefixString.append(QString(" [%1]").arg(_targetName));
     }
     
-    QString logMessage = QString("%1 %2").arg(prefixString, message);
+    QString logMessage = QString("%1 %2").arg(prefixString, message.split("\n").join("\n" + prefixString + " "));
     fprintf(stdout, "%s\n", qPrintable(logMessage));
     return logMessage;
 }
diff --git a/libraries/shared/src/shared/ReadWriteLockable.h b/libraries/shared/src/shared/ReadWriteLockable.h
index a7d30d562b..98dff4a841 100644
--- a/libraries/shared/src/shared/ReadWriteLockable.h
+++ b/libraries/shared/src/shared/ReadWriteLockable.h
@@ -14,7 +14,7 @@
 class ReadWriteLockable {
 public:
     template <typename F>
-    bool withWriteLock(F f, bool require = true) {
+    bool withWriteLock(F f, bool require = true) const {
         if (!require) {
             bool result = _lock.tryLockForWrite();
             if (result) {
@@ -22,7 +22,7 @@ public:
                 _lock.unlock();
             }
             return result;
-        } 
+        }
 
         QWriteLocker locker(&_lock);
         f();
@@ -30,7 +30,7 @@ public:
     }
 
     template <typename F>
-    bool withTryWriteLock(F f) {
+    bool withTryWriteLock(F f) const {
         return withWriteLock(f, false);
     }
 
diff --git a/libraries/ui/CMakeLists.txt b/libraries/ui/CMakeLists.txt
index d4cd1fc2bb..140ca87d0d 100644
--- a/libraries/ui/CMakeLists.txt
+++ b/libraries/ui/CMakeLists.txt
@@ -1,3 +1,3 @@
 set(TARGET_NAME ui)
 setup_hifi_library(OpenGL Network Qml Quick Script XmlPatterns)
-link_hifi_libraries(render-utils shared)
+link_hifi_libraries(shared networking gl)
diff --git a/libraries/ui/src/OffscreenUi.h b/libraries/ui/src/OffscreenUi.h
index 4c8b4a8304..be7f6b5e2e 100644
--- a/libraries/ui/src/OffscreenUi.h
+++ b/libraries/ui/src/OffscreenUi.h
@@ -12,7 +12,7 @@
 #ifndef hifi_OffscreenUi_h
 #define hifi_OffscreenUi_h
 
-#include "OffscreenQmlSurface.h"
+#include <gl/OffscreenQmlSurface.h>
 
 #include <QMessageBox>
 #include <DependencyManager.h>
diff --git a/tests/gpu-test/CMakeLists.txt b/tests/gpu-test/CMakeLists.txt
index 0c183fc2f0..2c9ee23c47 100644
--- a/tests/gpu-test/CMakeLists.txt
+++ b/tests/gpu-test/CMakeLists.txt
@@ -3,5 +3,5 @@ AUTOSCRIBE_SHADER_LIB(gpu model render-utils)
 # This is not a testcase -- just set it up as a regular hifi project
 setup_hifi_project(Quick Gui OpenGL Script Widgets)
 set_target_properties(${TARGET_NAME} PROPERTIES FOLDER "Tests/manual-tests/")
-link_hifi_libraries(networking gpu procedural shared fbx model model-networking animation script-engine render-utils )
+link_hifi_libraries(networking gl gpu procedural shared fbx model model-networking animation script-engine render-utils )
 copy_dlls_beside_windows_executable()
\ No newline at end of file
diff --git a/tests/render-utils/CMakeLists.txt b/tests/render-utils/CMakeLists.txt
index 62ed401d2e..865db4dad5 100644
--- a/tests/render-utils/CMakeLists.txt
+++ b/tests/render-utils/CMakeLists.txt
@@ -6,8 +6,6 @@ setup_hifi_project(Quick Gui OpenGL)
 set_target_properties(${TARGET_NAME} PROPERTIES FOLDER "Tests/manual-tests/")
 
 # link in the shared libraries
-link_hifi_libraries(render-utils gpu shared)
-
-message(${PROJECT_BINARY_DIR})
+link_hifi_libraries(render-utils gl gpu shared)
 
 copy_dlls_beside_windows_executable()
diff --git a/tests/shaders/CMakeLists.txt b/tests/shaders/CMakeLists.txt
index 9b2a079e88..fd58a5911f 100644
--- a/tests/shaders/CMakeLists.txt
+++ b/tests/shaders/CMakeLists.txt
@@ -8,8 +8,8 @@ set_target_properties(${TARGET_NAME} PROPERTIES FOLDER "Tests/manual-tests/")
 #include_oglplus()
 
 # link in the shared libraries
-link_hifi_libraries(shared octree environment gpu model render fbx networking entities 
-                    script-engine physics
+link_hifi_libraries(shared octree environment gl gpu model render fbx networking entities 
+                    script-engine physics 
                     render-utils entities-renderer)
 
 include_directories("${PROJECT_BINARY_DIR}/../../libraries/gpu/")
@@ -17,6 +17,4 @@ include_directories("${PROJECT_BINARY_DIR}/../../libraries/render-utils/")
 include_directories("${PROJECT_BINARY_DIR}/../../libraries/entities-renderer/")
 include_directories("${PROJECT_BINARY_DIR}/../../libraries/model/")
 
-message(${PROJECT_BINARY_DIR})
-
 copy_dlls_beside_windows_executable()
diff --git a/tests/shaders/src/main.cpp b/tests/shaders/src/main.cpp
index 8d12663935..3edff67d66 100644
--- a/tests/shaders/src/main.cpp
+++ b/tests/shaders/src/main.cpp
@@ -20,7 +20,7 @@
 #include <QDir>
 #include <QGuiApplication>
 
-#include <GLHelpers.h>
+#include <gl/GLHelpers.h>
 
 #include "../model/Skybox_vert.h"
 #include "../model/Skybox_frag.h"
diff --git a/tests/ui/CMakeLists.txt b/tests/ui/CMakeLists.txt
index 6a2d8c394a..82fc23e680 100644
--- a/tests/ui/CMakeLists.txt
+++ b/tests/ui/CMakeLists.txt
@@ -11,6 +11,6 @@ if (WIN32)
 endif()
 
 # link in the shared libraries
-link_hifi_libraries(ui render-utils gpu shared)
+link_hifi_libraries(shared networking gl gpu ui)
 
 copy_dlls_beside_windows_executable()