5 files changed, 84 insertions, 45 deletions

diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
index a70d1b8..bb21f0c 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
@@ -508,7 +508,7 @@ public abstract class BSPhysObject : PhysicsActor
                 relvel = RawVelocity;
             if (collidee != null && collidee.IsPhysical)
                 relvel -= collidee.RawVelocity;
-            newContact.RelativeSpeed = OMV.Vector3.Dot(relvel, contactNormal);
+            newContact.RelativeSpeed = -OMV.Vector3.Dot(relvel, contactNormal);
             // DetailLog("{0},{1}.Collision.AddCollider,vel={2},contee.vel={3},relvel={4},relspeed={5}",
             //         LocalID, TypeName, RawVelocity, (collidee == null ? OMV.Vector3.Zero : collidee.RawVelocity), relvel, newContact.RelativeSpeed);
                     
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
index 393afae..04ccbf0 100644
--- a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
+++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
@@ -126,9 +126,20 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
                 m_objCollisionList.Add(localID, contact);
             }
             else
-            {              
+            {   
+                float lastVel = m_objCollisionList[localID].RelativeSpeed;        
                 if (m_objCollisionList[localID].PenetrationDepth < contact.PenetrationDepth)
+                {
+                    if(Math.Abs(lastVel) > Math.Abs(contact.RelativeSpeed))
+                        contact.RelativeSpeed = lastVel;
                     m_objCollisionList[localID] = contact;
+                }
+                else if(Math.Abs(lastVel) < Math.Abs(contact.RelativeSpeed))
+                {
+                    ContactPoint tmp = m_objCollisionList[localID];
+                    tmp.RelativeSpeed = contact.RelativeSpeed;
+                    m_objCollisionList[localID] = tmp;
+                }
             }
         }
 
@@ -385,6 +396,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
         }
 
         public abstract Vector3 Velocity { get; set; }
+        public virtual Vector3 rootVelocity { get { return Vector3.Zero; } }
 
         public abstract Vector3 Torque { get; set; }
         public abstract float CollisionScore { get; set;}
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
index 55619c0..7d855f1 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
@@ -80,6 +80,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         private Vector3 m_rotationalVelocity;
         private Vector3 m_size;
         private Vector3 m_collideNormal;
+        private Vector3 m_lastFallVel;
         private Quaternion m_orientation;
         private Quaternion m_orientation2D;
         private float m_mass = 80f;
@@ -109,6 +110,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         private bool m_alwaysRun = false;
 
         private bool _zeroFlag = false;
+        private bool m_haveLastFallVel = false;
 
 
         private uint m_localID = 0;
@@ -605,6 +607,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             set { return; }
         }
 
+        public override Vector3 rootVelocity
+        {
+            get
+            {
+                return _velocity;
+            }
+        }
+
         public override Vector3 Velocity
         {
             get
@@ -1086,6 +1096,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 if (ctz.Z < 0)
                     ctz.Z = 0;
 
+                if(!m_haveLastFallVel)
+                {
+                    m_lastFallVel = vel;
+                    m_haveLastFallVel = true;
+                }
+
                 Vector3 n = _parent_scene.GetTerrainNormalAtXY(posch.X, posch.Y);
                 float depth = terrainheight - chrminZ;
 
@@ -1114,7 +1130,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
                         m_iscollidingGround = true;
 
-
                         ContactPoint contact = new ContactPoint();
                         contact.PenetrationDepth = depth;
                         contact.Position.X = localpos.X;
@@ -1123,9 +1138,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                         contact.SurfaceNormal.X = -n.X;
                         contact.SurfaceNormal.Y = -n.Y;
                         contact.SurfaceNormal.Z = -n.Z;
-                        contact.RelativeSpeed = -vel.Z;
+                        contact.RelativeSpeed = Vector3.Dot(m_lastFallVel, n);
                         contact.CharacterFeet = true;
                         AddCollisionEvent(0, contact);
+                        m_lastFallVel = vel;
 
 //                        vec.Z *= 0.5f;
                     }
@@ -1143,6 +1159,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             }
             else
             {
+                m_haveLastFallVel = false;
                 m_colliderGroundfilter -= 5;
                 if (m_colliderGroundfilter <= 0)
                 {
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
index 6ed42d9..aaa2203 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
@@ -542,6 +542,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             }
         }
 
+        public override Vector3 rootVelocity
+        {
+            get
+            {
+                if(_parent != null)
+                    return ((OdePrim)_parent).Velocity;
+                return Velocity;
+            }
+        }
+
         public override Vector3 Velocity
         {
             get
@@ -560,7 +570,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 {
                     m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name);
                 }
-
             }
         }
 
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
index e0644e3..8d87c30 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -874,7 +874,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                                 break;
 
                             case (int)ActorTypes.Prim:
-                                Vector3 relV = p1.Velocity - p2.Velocity;
+                                Vector3 relV = p1.rootVelocity - p2.rootVelocity;
                                 float relVlenSQ = relV.LengthSquared();
                                 if (relVlenSQ > 0.0001f)
                                 {
@@ -899,7 +899,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                                 bounce = contactdata1.bounce * TerrainBounce;
                                 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
 
-                                if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
+                                Vector3 v1 = p1.rootVelocity;
+                                if (Math.Abs(v1.X) > 0.1f || Math.Abs(v1.Y) > 0.1f)
                                     mu *= frictionMovementMult;
                                 p1.CollidingGround = true;
 
@@ -925,8 +926,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
 //                        if (curContact.side1 > 0) // should be 2 ?
 //                            IgnoreNegSides = true;
-
-                        if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
+                        Vector3 v2 = p2.rootVelocity;
+                        if (Math.Abs(v2.X) > 0.1f || Math.Abs(v2.Y) > 0.1f)
                             mu *= frictionMovementMult;
 
                         if(d.GeomGetClass(g2) == d.GeomClassID.TriMeshClass)
@@ -980,7 +981,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                             p1.CollidingObj = true;
                             p2.CollidingObj = true;
                         }
-                        else if (p2.Velocity.LengthSquared() > 0.0f)
+                        else if (p2.rootVelocity.LengthSquared() > 0.0f)
                             p2.CollidingObj = true;
                     }
                     else
@@ -995,7 +996,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                             p1.CollidingObj = true;
                             p2.CollidingObj = true;
                         }
-                    else if (p2.Velocity.LengthSquared() > 0.0f)
+                    else if (p1.rootVelocity.LengthSquared() > 0.0f)
                         p1.CollidingObj = true;
                     }
                 else
@@ -1068,10 +1069,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
             Vector3 vel = Vector3.Zero;
             if (p2 != null && p2.IsPhysical)
-                vel = p2.Velocity;
+                vel = p2.rootVelocity;
 
             if (p1 != null && p1.IsPhysical)
-                vel -= p1.Velocity;
+                vel -= p1.rootVelocity;
 
             contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal);
 
@@ -1079,44 +1080,45 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             {
                 case ActorTypes.Agent:
                 case ActorTypes.Prim:
+                {
+                    switch ((ActorTypes)p2.PhysicsActorType)
                     {
-                        switch ((ActorTypes)p2.PhysicsActorType)
-                        {
-                            case ActorTypes.Agent:
-                            case ActorTypes.Prim:
-                                if (p2events)
-                                {
-                                    AddCollisionEventReporting(p2);
-                                    p2.AddCollisionEvent(p1.ParentActor.LocalID, contact);
-                                }
-                                obj2LocalID = p2.ParentActor.LocalID;
-                                break;
+                        case ActorTypes.Agent:
+                        case ActorTypes.Prim:
+                            if (p2events)
+                            {
+                                AddCollisionEventReporting(p2);
+                                p2.AddCollisionEvent(p1.ParentActor.LocalID, contact);
+                            }
+                            obj2LocalID = p2.ParentActor.LocalID;
+                            break;
 
-                            case ActorTypes.Ground:
-                            case ActorTypes.Unknown:
-                            default:
-                                obj2LocalID = 0;
-                                break;
-                        }
-                        if (p1events)
-                        {
-                            contact.SurfaceNormal = -contact.SurfaceNormal;
-                            AddCollisionEventReporting(p1);
-                            p1.AddCollisionEvent(obj2LocalID, contact);
-                        }
-                        break;
+                        case ActorTypes.Ground:
+                        case ActorTypes.Unknown:
+                        default:
+                            obj2LocalID = 0;
+                            break;
                     }
+                    if (p1events)
+                    {
+                        contact.SurfaceNormal = -contact.SurfaceNormal;
+                        contact.RelativeSpeed = -contact.RelativeSpeed;
+                        AddCollisionEventReporting(p1);
+                        p1.AddCollisionEvent(obj2LocalID, contact);
+                    }
+                    break;
+                }
                 case ActorTypes.Ground:
                 case ActorTypes.Unknown:
                 default:
+                {
+                    if (p2events && !p2.IsVolumeDtc)
                     {
-                        if (p2events && !p2.IsVolumeDtc)
-                        {
-                            AddCollisionEventReporting(p2);
-                            p2.AddCollisionEvent(0, contact);
-                        }
-                        break;
+                        AddCollisionEventReporting(p2);
+                        p2.AddCollisionEvent(0, contact);
                     }
+                    break;
+                }
             }
         }
 
@@ -1722,8 +1724,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
                                 case ActorTypes.Prim:
                                     OdePrim pobj = (OdePrim)obj;
-                                    if (pobj.Body == IntPtr.Zero || (d.BodyIsEnabled(pobj.Body) && !pobj.m_outbounds))
-                                    if (!pobj.m_outbounds)
+                                    if (!pobj.m_outbounds && (pobj.Body == IntPtr.Zero || d.BodyIsEnabled(pobj.Body)))
                                     {
                                         pobj.AddCollisionFrameTime((int)(odetimestepMS));
                                         pobj.SendCollisions();