diff --git a/Engine/source/T3D/rigid.cpp b/Engine/source/T3D/rigid.cpp
index ffdcda6ff..adb453879 100644
--- a/Engine/source/T3D/rigid.cpp
+++ b/Engine/source/T3D/rigid.cpp
@@ -46,6 +46,11 @@ Rigid::Rigid()
    restitution = 0.3f;
    friction = 0.5f;
    atRest = false;
+
+   sleepLinearThreshold = 0.0004f;
+   sleepAngThreshold = 0.0004f;
+   sleepTimeThreshold = 0.75f;
+   sleepTimer = 0.0f;
 }
 
 void Rigid::clearForces()
@@ -57,9 +62,18 @@ void Rigid::clearForces()
 //-----------------------------------------------------------------------------
 void Rigid::integrate(F32 delta)
 {
-   // Update Angular position
+   if (atRest && force.isZero() && torque.isZero())
+      return;
+
+   // 1. advance momentum
+   angMomentum += torque * delta;
+   linMomentum += force * delta;
+   linVelocity = linMomentum * oneOverMass;
+
+   // 2. advance orientation if ang vel significant
    F32 angle = angVelocity.len();
-   if (angle != 0.0f) {
+   if (mFabs(angle)> POINT_EPSILON)
+   {
       QuatF dq;
       F32 sinHalfAngle;
       mSinCos(angle * delta * -0.5f, sinHalfAngle, dq.w);
@@ -73,22 +87,29 @@ void Rigid::integrate(F32 delta)
 
       // Rotate the position around the center of mass
       Point3F lp = linPosition - worldCenterOfMass;
-      dq.mulP(lp,&linPosition);
+      dq.mulP(lp, &linPosition);
       linPosition += worldCenterOfMass;
    }
 
-   // Update angular momentum
-   angMomentum = angMomentum + torque * delta;
+   // 3. advance position
+   linPosition += linVelocity * delta;
 
-   // Update linear position, momentum
-   linPosition = linPosition + linVelocity * delta;
-   linMomentum = linMomentum + force * delta;
-   linVelocity = linMomentum * oneOverMass;
+   // 4. rebuild world inertia
+   if (mFabs(angle) > POINT_EPSILON)
+   {
+      updateInertialTensor();
+   }
 
-   // Update dependent state variables
-   updateInertialTensor();
-   updateVelocity();
+   // 5. refresh ang velocity
+   updateAngularVelocity();
+
+
+   // 6. CoM update
    updateCenterOfMass();
+
+   // 7. check if we can sleep
+   trySleep(delta);
+
 }
 
 void Rigid::updateVelocity()
@@ -118,7 +139,7 @@ void Rigid::updateCenterOfMass()
 void Rigid::applyImpulse(const Point3F &r, const Point3F &impulse)
 {
    if (impulse.lenSquared() < mass) return;
-   atRest = false;
+   wake();
 
    // Linear momentum and velocity
    linMomentum  += impulse;
@@ -278,6 +299,47 @@ void Rigid::translateCenterOfMass(const Point3F &oldPos,const Point3F &newPos)
    objectInertia(2,1) = objectInertia(1,2);
 }
 
+void Rigid::trySleep(F32 dt)
+{
+   // If there is active force/torque, don’t sleep
+   if (!force.isZero() || !torque.isZero())
+   {
+      sleepTimer = 0.0f; return;
+   }
+
+   const F32 linV2 = linVelocity.lenSquared();
+   const F32 angV2 = angVelocity.lenSquared();
+
+   if (linV2 < sleepLinearThreshold && angV2 < sleepAngThreshold)
+   {
+      sleepTimer += dt;
+      if (sleepTimer >= sleepTimeThreshold)
+      {
+         setAtRest();
+      }
+   }
+   else
+   {
+      sleepTimer = 0.0f;
+   }
+}
+
+void Rigid::setSleepThresholds(F32 linVel2, F32 angVel2, F32 timeToSleep)
+{
+   sleepLinearThreshold = linVel2;
+   sleepAngThreshold = angVel2;
+   sleepTimeThreshold = timeToSleep;
+}
+
+void Rigid::wake()
+{
+   if (atRest)
+   {
+      atRest = false;
+      sleepTimer = 0.0f;
+   }
+}
+
 void Rigid::getVelocity(const Point3F& r, Point3F* v)
 {
    mCross(angVelocity, r, v);
diff --git a/Engine/source/T3D/rigid.h b/Engine/source/T3D/rigid.h
index 17e2fe0aa..c9fa9197e 100644
--- a/Engine/source/T3D/rigid.h
+++ b/Engine/source/T3D/rigid.h
@@ -61,11 +61,18 @@ public:
    F32 oneOverMass;              ///< 1 / mass
    F32 restitution;              ///< Collision restitution
    F32 friction;                 ///< Friction coefficient
+
+   // sleep threshold parameters
+   F32 sleepLinearThreshold;     ///< M/S ^ 2
+   F32 sleepAngThreshold;        ///< R/S ^ 2
+   F32 sleepTimeThreshold;       ///< Seconds
+   F32 sleepTimer;
+
    bool atRest;
 
 private:
    void translateCenterOfMass(const Point3F &oldPos,const Point3F &newPos);
-
+   void trySleep(F32 dt);
 public:
    //
    Rigid();
@@ -94,6 +101,11 @@ public:
 
    bool checkRestCondition();
    void setAtRest();
+
+   //
+   void setSleepThresholds(F32 linVel2, F32 angVel2, F32 timeToSleep);
+   void wake();
+   TORQUE_FORCEINLINE void updateAngularVelocity() { invWorldInertia.mulV(angMomentum, &angVelocity); }
 };
 
 
diff --git a/Engine/source/T3D/rigidShape.cpp b/Engine/source/T3D/rigidShape.cpp
index b87bcc056..98aec96e8 100644
--- a/Engine/source/T3D/rigidShape.cpp
+++ b/Engine/source/T3D/rigidShape.cpp
@@ -1253,6 +1253,9 @@ bool RigidShape::updateCollision(F32 dt)
    mRigid.getTransform(&mat);
    cmat = mConvex.getTransform();
 
+   SceneObject* mounted;
+   for (mounted = getMountList(); mounted; mounted = mounted->getMountLink())
+      mounted->disableCollision();
    mCollisionList.clear();
    CollisionState *state = mConvex.findClosestState(cmat, getScale(), mDataBlock->collisionTol);
    if (state && state->mDist <= mDataBlock->collisionTol) 
@@ -1260,9 +1263,12 @@ bool RigidShape::updateCollision(F32 dt)
       //resolveDisplacement(ns,state,dt);
       mConvex.getCollisionInfo(cmat, getScale(), &mCollisionList, mDataBlock->collisionTol);
    }
-
    // Resolve collisions
    bool collided = resolveCollision(mRigid,mCollisionList, dt);
+
+   for (mounted = getMountList(); mounted; mounted = mounted->getMountLink())
+      mounted->enableCollision();
+
    return collided;
 }
 
@@ -1682,7 +1688,7 @@ void RigidShape::initPersistFields()
    docsURL;
    addField("disableMove", TypeBool, Offset(mDisableMove, RigidShape),
       "When this flag is set, the vehicle will ignore throttle changes.");
-   addField("isAtRest", TypeBool, Offset(mRigid.atRest, RigidShape),
+   addProtectedField("isAtRest", TypeBool, Offset(mRigid.atRest, RigidShape), &defaultProtectedNotSetFn, &defaultProtectedGetFn,
       "Debug read of the rest state. do not set");   
    Parent::initPersistFields();
 }
diff --git a/Engine/source/T3D/vehicles/wheeledVehicle.cpp b/Engine/source/T3D/vehicles/wheeledVehicle.cpp
index ec107eedc..44b8b0623 100644
--- a/Engine/source/T3D/vehicles/wheeledVehicle.cpp
+++ b/Engine/source/T3D/vehicles/wheeledVehicle.cpp
@@ -821,7 +821,7 @@ void WheeledVehicle::advanceTime(F32 dt)
 
    // Stick the wheels to the ground.  This is purely so they look
    // good while the vehicle is being interpolated.
-   //extendWheels();
+   extendWheels(isClientObject());
 
    // Update wheel angular position and slip, this is a client visual
    // feature only, it has no affect on the physics.
@@ -1201,6 +1201,7 @@ void WheeledVehicle::extendWheels(bool clientHack)
             wheel->surface.pos      = rInfo.point;
             wheel->surface.material = rInfo.material;
             wheel->surface.object   = rInfo.object;
+            wheel->slipping = false;
          }
          else 
          {
@@ -1475,35 +1476,36 @@ void WheeledVehicle::writePacketData(GameConnection *connection, BitStream *stre
 {
    Parent::writePacketData(connection, stream);
    stream->writeFlag(mBraking);
-
-   Wheel* wend = &mWheel[mDataBlock->wheelCount];
-   for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
-   {
-      stream->write(wheel->avel);
-      stream->write(wheel->Dy);
-      stream->write(wheel->Dx);
-      stream->writeFlag(wheel->slipping);
-   }
+   
 }
 
 void WheeledVehicle::readPacketData(GameConnection *connection, BitStream *stream)
 {
    Parent::readPacketData(connection, stream);
    mBraking = stream->readFlag();
-
+   
    Wheel* wend = &mWheel[mDataBlock->wheelCount];
+
    for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
    {
-      stream->read(&wheel->avel);
-      stream->read(&wheel->Dy);
-      stream->read(&wheel->Dx);
-      wheel->slipping = stream->readFlag();
+      if (wheel->tire && wheel->spring) {
+         // Update angular position
+         wheel->apos += (wheel->avel) / M_2PI;
+         wheel->apos -= mFloor(wheel->apos);
+         if (wheel->apos < 0)
+            wheel->apos = 1 - wheel->apos;
+      }
    }
 
    // Rigid state is transmitted by the parent...
    setPosition(mRigid.linPosition,mRigid.angPosition);
    mDelta.pos = mRigid.linPosition;
    mDelta.rot[1] = mRigid.angPosition;
+
+   // Stick the wheels to the ground.  This is purely so they look
+   // good while the vehicle is being interpolated.
+   extendWheels(isClientObject());
+   updateWheelThreads();
 }