1 files changed, 199 insertions, 211 deletions

diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
index 79e2986..353db44 100644
--- a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
@@ -224,7 +224,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         public float bodyPIDG = 25;
 
         public int geomCrossingFailuresBeforeOutofbounds = 5;
-        public int geomRegionFence = 0;
+        public float geomRegionFence = 0.0f;
 
         public float bodyMotorJointMaxforceTensor = 2;
 
@@ -264,8 +264,9 @@ namespace OpenSim.Region.Physics.OdePlugin
         private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
         private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
 
-        private d.Contact contact;
+        private d.Contact ContactCopy;                  // local copy that can be modified
         private d.Contact TerrainContact;
+        private d.Contact AvatarStaticprimContact;      // was 'contact'
         private d.Contact AvatarMovementprimContact;
         private d.Contact AvatarMovementTerrainContact;
         private d.Contact WaterContact;
@@ -448,7 +449,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
                     geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
                     geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
-                    geomRegionFence = physicsconfig.GetInt("region_border_fence", 0);
+                    geomRegionFence = physicsconfig.GetFloat("region_border_fence", 0.0f);
 
                     geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
                     bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
@@ -491,167 +492,143 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
 
-            // Centeral contact friction and bounce
-            // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
-            // an avatar falls through in Z but not in X or Y when walking on a prim.
-            contact.surface.mode |= d.ContactFlags.SoftERP;
-            contact.surface.mu = nmAvatarObjectContactFriction;
-            contact.surface.bounce = nmAvatarObjectContactBounce;
-            contact.surface.soft_cfm = 0.010f;
-            contact.surface.soft_erp = 0.010f;
-
-            // Terrain contact friction and Bounce
-            // This is the *non* moving version.   Use this when an avatar
-            // isn't moving to keep it in place better
-            TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
-            TerrainContact.surface.mu = nmTerrainContactFriction;
-            TerrainContact.surface.bounce = nmTerrainContactBounce;
-            TerrainContact.surface.soft_erp = nmTerrainContactERP;
-
+            // Avatar static on a Prim parameters
+            AvatarStaticprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            AvatarStaticprimContact.surface.mu = 255.0f;
+            AvatarStaticprimContact.surface.bounce = 0.0f;
+            AvatarStaticprimContact.surface.soft_cfm = 0.0f;
+            AvatarStaticprimContact.surface.soft_erp = 0.30f;   // If this is too small static Av will fall through a sloping prim. 1.0 prevents fall-thru
+
+            // Avatar moving on a Prim parameters
+            AvatarMovementprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            AvatarMovementprimContact.surface.mu = 255.0f;
+            AvatarMovementprimContact.surface.bounce = 0.0f;
+            AvatarMovementprimContact.surface.soft_cfm = 0.0f; // if this is 0.01 then prims become phantom to Avs!
+            AvatarMovementprimContact.surface.soft_erp = 0.3f;
+
+            // Static Avatar on Terrain parameters
+            // Keeps Avatar in place better
+            TerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            TerrainContact.surface.mu = 255.0f;
+            TerrainContact.surface.bounce = 0.0f;
+            TerrainContact.surface.soft_cfm = 0.0f;
+            TerrainContact.surface.soft_erp = 0.05f;
+
+            // Moving Avatar on Terrain parameters
+            AvatarMovementTerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            AvatarMovementTerrainContact.surface.mu = 75f;
+            AvatarMovementTerrainContact.surface.bounce = 0.0f;
+            AvatarMovementTerrainContact.surface.soft_cfm = 0.0f;
+            AvatarMovementTerrainContact.surface.soft_erp = 0.05f;
+
+            // Avatar or prim the the water, this may not be used, possibly water is same as air?
             WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
-            WaterContact.surface.mu = 0f; // No friction
+            WaterContact.surface.mu = 0.0f; // No friction
             WaterContact.surface.bounce = 0.0f; // No bounce
             WaterContact.surface.soft_cfm = 0.010f;
             WaterContact.surface.soft_erp = 0.010f;
 
-            // Prim contact friction and bounce
-            // THis is the *non* moving version of friction and bounce
-            // Use this when an avatar comes in contact with a prim
-            // and is moving
-            AvatarMovementprimContact.surface.mu = mAvatarObjectContactFriction;
-            AvatarMovementprimContact.surface.bounce = mAvatarObjectContactBounce;
-
-            // Terrain contact friction bounce and various error correcting calculations
-            // Use this when an avatar is in contact with the terrain and moving.
-            AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
-            AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
-            AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
-            AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
-
-
-            /*
-                <summary></summary>
-                Stone = 0,
-                /// <summary></summary>
-                Metal = 1,
-                /// <summary></summary>
-                Glass = 2,
-                /// <summary></summary>
-                Wood = 3,
-                /// <summary></summary>
-                Flesh = 4,
-                /// <summary></summary>
-                Plastic = 5,
-                /// <summary></summary>
-                Rubber = 6
-             */
 
+            // Prim static or moving on a prim, depends on material type
             m_materialContacts = new d.Contact[7,2];
-
+                                                //  V  1 = Sliding; 0 = static or fell onto
             m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
-            m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Stone, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Stone, 0].surface.mu = 60f;           // friction, 1 = slippery, 255 = no slip
+            m_materialContacts[(int)Material.Stone, 0].surface.bounce = 0.0f;       
+            m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.50f;    // erp also changes friction, more erp=less friction
 
             m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
-            m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Stone, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Stone, 1].surface.mu = 40f;
+            m_materialContacts[(int)Material.Stone, 1].surface.bounce = 0.0f;
+            m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.50f;
 
             m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
-            m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Metal, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Metal, 0].surface.mu = 15f;
+            m_materialContacts[(int)Material.Metal, 0].surface.bounce = 0.2f;
+            m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.50f;
 
             m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
-            m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Metal, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Metal, 1].surface.mu = 10f;
+            m_materialContacts[(int)Material.Metal, 1].surface.bounce = 0.2f;
+            m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.50f;
 
             m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
-            m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f;
-            m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f;
-            m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.010f;
-
-            /*
-                private float nmAvatarObjectContactFriction = 250f;
-                private float nmAvatarObjectContactBounce = 0.1f;
-
-                private float mAvatarObjectContactFriction = 75f;
-                private float mAvatarObjectContactBounce = 0.1f;
-            */
+            m_materialContacts[(int)Material.Glass, 0].surface.mode  = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Glass, 0].surface.mu = 7.5f;
+            m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.0f;
+            m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.50f;
+
             m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
-            m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f;
-            m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f;
-            m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Glass, 1].surface.mode  = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Glass, 1].surface.mu = 5f;
+            m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.0f;
+            m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.50f;
 
             m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
-            m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Wood, 0].surface.mode  = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Wood, 0].surface.mu = 45f;
+            m_materialContacts[(int)Material.Wood, 0].surface.bounce = 0.1f;
+            m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.50f;
 
             m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
-            m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Wood, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Wood, 1].surface.mu = 30f;
+            m_materialContacts[(int)Material.Wood, 1].surface.bounce = 0.1f;
+            m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.50f;
 
             m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
-            m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Flesh, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Flesh, 0].surface.mu = 150f;
+            m_materialContacts[(int)Material.Flesh, 0].surface.bounce = 0.0f;
+            m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.50f;
 
             m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
-            m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Flesh, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Flesh, 1].surface.mu = 100f;
+            m_materialContacts[(int)Material.Flesh, 1].surface.bounce = 0.0f;
+            m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.50f;
 
             m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
-            m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Plastic, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Plastic, 0].surface.mu = 30f;
+            m_materialContacts[(int)Material.Plastic, 0].surface.bounce = 0.2f;
+            m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.50f;
 
             m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
-            m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Plastic, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Plastic, 1].surface.mu = 20f;
+            m_materialContacts[(int)Material.Plastic, 1].surface.bounce = 0.2f;
+            m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.50f;
 
             m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
-            m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Rubber, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Rubber, 0].surface.mu = 150f;
+            m_materialContacts[(int)Material.Rubber, 0].surface.bounce = 0.7f;
+            m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.50f;
 
             m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
-            m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP;
-            m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction;
-            m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce;
-            m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f;
-            m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f;
+            m_materialContacts[(int)Material.Rubber, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
+            m_materialContacts[(int)Material.Rubber, 1].surface.mu = 100f;
+            m_materialContacts[(int)Material.Rubber, 1].surface.bounce = 0.7f;
+            m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.0f;
+            m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.50f;
 
             d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
 
@@ -660,10 +637,13 @@ namespace OpenSim.Region.Physics.OdePlugin
             d.WorldSetGravity(world, gravityx, gravityy, gravityz);
             d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
 
+
+            d.WorldSetLinearDampingThreshold(world, 256f);
             d.WorldSetLinearDamping(world, 256f);
-            d.WorldSetAngularDamping(world, 256f);
+//            d.WorldSetLinearDampingThreshold(world, 0.01f);
+//            d.WorldSetLinearDamping(world, 0.1f);
             d.WorldSetAngularDampingThreshold(world, 256f);
-            d.WorldSetLinearDampingThreshold(world, 256f);
+            d.WorldSetAngularDamping(world, 256f);
             d.WorldSetMaxAngularSpeed(world, 256f);
 
             // Set how many steps we go without running collision testing
@@ -713,7 +693,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             // Test if we're colliding a geom with a space.
             // If so we have to drill down into the space recursively
-
+//Console.WriteLine("near -----------");  //##
             if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
             {
                 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
@@ -819,7 +799,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (p2.CollisionScore + count >= float.MaxValue)
                 p2.CollisionScore = 0;
             p2.CollisionScore += count;
-
             for (int i = 0; i < count; i++)
             {
                 d.ContactGeom curContact = contacts[i];
@@ -835,7 +814,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                 //m_log.Warn("[CCOUNT]: " + count);
                 IntPtr joint;
-                // If we're colliding with terrain, use 'TerrainContact' instead of contact.
+                // If we're colliding with terrain, use 'TerrainContact' instead of AvatarStaticprimContact.
                 // allows us to have different settings
                 
                 // We only need to test p2 for 'jump crouch purposes'
@@ -844,9 +823,14 @@ namespace OpenSim.Region.Physics.OdePlugin
                     // Testing if the collision is at the feet of the avatar
 
                     //m_log.DebugFormat("[PHYSICS]: {0} - {1} - {2} - {3}", curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f));
-                    if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f))
-                        p2.IsColliding = true;
-                }
+//#@                    if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f))
+//#@                        p2.IsColliding = true;
+                    if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)){       //##
+                        p2.IsColliding = true;       //##
+                    }else{
+
+                    }  //##   
+                 }
                 else
                 {
                     p2.IsColliding = true;
@@ -881,9 +865,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                     //This is disabled at the moment only because it needs more tweaking
                     //It will eventually be uncommented
                     /*
-                    if (contact.depth >= 1.00f)
+                    if (AvatarStaticprimContact.depth >= 1.00f)
                     {
-                        //m_log.Debug("[PHYSICS]: " + contact.depth.ToString());
+                        //m_log.Debug("[PHYSICS]: " + AvatarStaticprimContact.depth.ToString());
                     }
 
                     //If you interpenetrate a prim with an agent
@@ -893,37 +877,37 @@ namespace OpenSim.Region.Physics.OdePlugin
                          p2.PhysicsActorType == (int) ActorTypes.Prim))
                     {
                         
-                        //contact.depth = contact.depth * 4.15f;
+                        //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth * 4.15f;
                         /*
                         if (p2.PhysicsActorType == (int) ActorTypes.Agent)
                         {
                             p2.CollidingObj = true;
-                            contact.depth = 0.003f;
+                            AvatarStaticprimContact.depth = 0.003f;
                             p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
                             OdeCharacter character = (OdeCharacter) p2;
                             character.SetPidStatus(true);
-                            contact.pos = new d.Vector3(contact.pos.X + (p1.Size.X / 2), contact.pos.Y + (p1.Size.Y / 2), contact.pos.Z + (p1.Size.Z / 2));
+                            AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p1.Size.X / 2), AvatarStaticprimContact.pos.Y + (p1.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p1.Size.Z / 2));
 
                         }
                         else
                         {
 
-                            //contact.depth = 0.0000000f;
+                            //AvatarStaticprimContact.depth = 0.0000000f;
                         }
                         if (p1.PhysicsActorType == (int) ActorTypes.Agent)
                         {
 
                             p1.CollidingObj = true;
-                            contact.depth = 0.003f;
+                            AvatarStaticprimContact.depth = 0.003f;
                             p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
-                            contact.pos = new d.Vector3(contact.pos.X + (p2.Size.X / 2), contact.pos.Y + (p2.Size.Y / 2), contact.pos.Z + (p2.Size.Z / 2));
+                            AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p2.Size.X / 2), AvatarStaticprimContact.pos.Y + (p2.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p2.Size.Z / 2));
                             OdeCharacter character = (OdeCharacter)p1;
                             character.SetPidStatus(true);
                         }
                         else
                         {
 
-                            //contact.depth = 0.0000000f;
+                            //AvatarStaticprimContact.depth = 0.0000000f;
                         }
                           
                         
@@ -948,7 +932,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             //AddPhysicsActorTaint(p2);
                         //}
 
-                        //if (contact.depth >= 0.25f)
+                        //if (AvatarStaticprimContact.depth >= 0.25f)
                         //{
                             // Don't collide, one or both prim will expld.
 
@@ -966,13 +950,13 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 //AddPhysicsActorTaint(p2);
                             //}
 
-                            //contact.depth = contact.depth / 8f;
-                            //contact.normal = new d.Vector3(0, 0, 1);
+                            //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth / 8f;
+                            //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
                         //}
                         //if (op1.m_disabled || op2.m_disabled)
                         //{
                             //Manually disabled objects stay disabled
-                            //contact.depth = 0f;
+                            //AvatarStaticprimContact.depth = 0f;
                         //}
                         #endregion
                     }
@@ -980,7 +964,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 #endregion
                     if (curContact.depth >= 1.00f)
                     {
-                        //m_log.Info("[P]: " + contact.depth.ToString());
+                        //m_log.Info("[P]: " + AvatarStaticprimContact.depth.ToString());
                         if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
                              p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
                             (p1.PhysicsActorType == (int) ActorTypes.Agent &&
@@ -1049,14 +1033,19 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                 if (!skipThisContact)
                 {
+                    //   Add contact joints with materials params----------------------------------
+                    // p1 is what is being hit, p2 is the physical object doing the hitting
+                    int material = (int) Material.Wood;
+                    int movintYN = 0;  // 1 = Sliding; 0 = static or fell onto
+                    if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) movintYN = 1;
+
                     // If we're colliding against terrain
                     if (name1 == "Terrain" || name2 == "Terrain")
                     {
                         // If we're moving
-                        if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
-                            (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
+                        if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && (movintYN == 1))
                         {
-                            // Use the movement terrain contact
+                            //$ Av walk/run on terrain (not falling) Use the Avatar movement terrain contact
                             AvatarMovementTerrainContact.geom = curContact;
                             _perloopContact.Add(curContact);
                             if (m_global_contactcount < maxContactsbeforedeath)
@@ -1069,7 +1058,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         {
                             if (p2.PhysicsActorType == (int)ActorTypes.Agent)
                             {
-                                // Use the non moving terrain contact
+                                //$ Av standing on terrain, Use the non moving Avata terrain contact
                                 TerrainContact.geom = curContact;
                                 _perloopContact.Add(curContact);
                                 if (m_global_contactcount < maxContactsbeforedeath)
@@ -1082,19 +1071,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                             {
                                 if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
                                 {
-                                    // prim prim contact
+                                    //& THIS NEVER HAPPENS? prim prim contact In terrain contact?
                                     // int pj294950 = 0;
-                                    int movintYN = 0;
-                                    int material = (int) Material.Wood;
                                     // prim terrain contact
-                                    if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
-                                    {
-                                        movintYN = 1;
-                                    }
 
                                     if (p2 is OdePrim)
                                         material = ((OdePrim)p2).m_material;
-
                                     //m_log.DebugFormat("Material: {0}", material);
                                     m_materialContacts[material, movintYN].geom = curContact;
                                     _perloopContact.Add(curContact);
@@ -1109,38 +1091,32 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 }
                                 else
                                 {
-
-                                    int movintYN = 0;
-                                    // prim terrain contact
-                                    if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
-                                    {
-                                        movintYN = 1;
-                                    }
-
-                                    int material = (int)Material.Wood;
-
+                                   //$ prim on terrain contact
                                     if (p2 is OdePrim)
                                         material = ((OdePrim)p2).m_material;
                                     //m_log.DebugFormat("Material: {0}", material);
                                     m_materialContacts[material, movintYN].geom = curContact;
                                     _perloopContact.Add(curContact);
 
+                                    ContactCopy = m_materialContacts[material, movintYN];
+                                    if(movintYN == 1)
+                                    {
+                                        // prevent excessive slide on terrain
+                                        ContactCopy.surface.mu = m_materialContacts[material, movintYN].surface.mu * 30.0f;
+                                    }
+
                                     if (m_global_contactcount < maxContactsbeforedeath)
                                     {
-                                        joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
+                                        joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
                                         m_global_contactcount++;
-
                                     }
                                 }
                             }
                         }
-                        //if (p2.PhysicsActorType == (int)ActorTypes.Prim)
-                        //{
-                        //m_log.Debug("[PHYSICS]: prim contacting with ground");
-                        //}
                     }
                     else if (name1 == "Water" || name2 == "Water")
                     {
+                        //$ This never happens! Perhaps water is treated like air?
                         /*
                         if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
                         {
@@ -1154,8 +1130,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                         if (curContact.depth > 0.1f)
                         {
                             curContact.depth *= 52;
-                            //contact.normal = new d.Vector3(0, 0, 1);
-                            //contact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
+                            //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
+                            //AvatarStaticprimContact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
                         }
                         WaterContact.geom = curContact;
                         _perloopContact.Add(curContact);
@@ -1164,17 +1140,19 @@ namespace OpenSim.Region.Physics.OdePlugin
                             joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
                             m_global_contactcount++;
                         }
-                        //m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth);
+                        //m_log.Info("[PHYSICS]: Prim Water Contact" + AvatarStaticprimContact.depth);
                     }
                     else
                     {
-                        // we're colliding with prim or avatar
+
+                        // no terrain and no water, we're colliding with prim or avatar
                         // check if we're moving
                         if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
                         {
-                            if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
+                            //$ Avatar on Prim or other Avatar
+                            if (movintYN == 1)
                             {
-                                // Use the Movement prim contact
+                                // Use the AV Movement / prim contact
                                 AvatarMovementprimContact.geom = curContact;
                                 _perloopContact.Add(curContact);
                                 if (m_global_contactcount < maxContactsbeforedeath)
@@ -1185,34 +1163,43 @@ namespace OpenSim.Region.Physics.OdePlugin
                             }
                             else
                             {
-                                // Use the non movement contact
-                                contact.geom = curContact;
+                                // Use the Av non movement / prim contact
+                                AvatarStaticprimContact.geom = curContact;
                                 _perloopContact.Add(curContact);
+                                ContactCopy = AvatarStaticprimContact;   // local copy so we can change locally
 
                                 if (m_global_contactcount < maxContactsbeforedeath)
                                 {
-                                    joint = d.JointCreateContact(world, contactgroup, ref contact);
+                                    if (curContact.depth > 0.2)
+                                    {   // embedded, eject slowly
+                                        ContactCopy.surface.soft_erp = 0.1f;
+                                        ContactCopy.surface.soft_cfm = 0.1f;
+                                    }
+                                    else 
+                                    {   // keep on the surface
+                                        ContactCopy.surface.soft_erp = 0.3f;
+                                        ContactCopy.surface.soft_cfm = 0.0f;
+                                    }
+                                    joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
                                     m_global_contactcount++;
                                 }
                             }
                         }
                         else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
                         {
+                            //$ Prim on Prim
                             //p1.PhysicsActorType
-                            int material = (int)Material.Wood;
 
-                            if (p2 is OdePrim)
-                                material = ((OdePrim)p2).m_material;
-                            
+                            if (p2 is OdePrim) material = ((OdePrim)p2).m_material;
                             //m_log.DebugFormat("Material: {0}", material);
-                            m_materialContacts[material, 0].geom = curContact;
+                            
+                            m_materialContacts[material, movintYN].geom = curContact;
                             _perloopContact.Add(curContact);
 
-                            if (m_global_contactcount < maxContactsbeforedeath)
+                           if (m_global_contactcount < maxContactsbeforedeath)
                             {
-                                joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]);
+                                joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
                                 m_global_contactcount++;
-
                             }
                         }
                     }
@@ -1235,8 +1222,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
                 //m_log.Debug(count.ToString());
                 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
-            }
-        }
+            } // end for i.. loop
+        } // end near
 
         private bool checkDupe(d.ContactGeom contactGeom, int atype)
         {
@@ -1566,7 +1553,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                         removeprims = new List<OdePrim>();
                                     }
                                     removeprims.Add(chr);
-                                    m_log.Debug("[PHYSICS]: unable to collide test active prim against space.  The space was zero, the geom was zero or it was in the process of being removed.  Removed it from the active prim list.  This needs to be fixed!");
+                                    /// Commented this because it triggers on every bullet
+                                    //m_log.Debug("[PHYSICS]: unable to collide test active prim against space.  The space was zero, the geom was zero or it was in the process of being removed.  Removed it from the active prim list.  This needs to be fixed!");
                                 }
                             }
                         }
@@ -1729,7 +1717,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
         private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
-                                     IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
+                                     IMesh mesh, PrimitiveBaseShape pbs, bool isphysical, uint localid)
         {
 
             Vector3 pos = position;
@@ -1739,7 +1727,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             OdePrim newPrim;
             lock (OdeLock)
             {
-                newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode);
+                newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode, localid);
 
                 lock (_prims)
                     _prims.Add(newPrim);
@@ -1761,13 +1749,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
         public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  Vector3 size, Quaternion rotation) //To be removed
-        {
-            return AddPrimShape(primName, pbs, position, size, rotation, false);
-        }
-
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                                  Vector3 size, Quaternion rotation, bool isPhysical)
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
         {
             PhysicsActor result;
             IMesh mesh = null;
@@ -1775,7 +1757,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (needsMeshing(pbs))
                 mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
 
-            result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
+            result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, localid);
 
             return result;
         }
@@ -2206,6 +2188,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                         {
                             if (prim.prim_geom != IntPtr.Zero)
                             {
+
+//string tPA;
+//geom_name_map.TryGetValue(prim.prim_geom, out tPA);
+//Console.WriteLine("**** Remove {0}", tPA);
+                                if(geom_name_map.ContainsKey(prim.prim_geom)) geom_name_map.Remove(prim.prim_geom);
+                                if(actor_name_map.ContainsKey(prim.prim_geom)) actor_name_map.Remove(prim.prim_geom);
                                 d.GeomDestroy(prim.prim_geom);
                                 prim.prim_geom = IntPtr.Zero;
                             }