*** DANGER TESTING **** changed prims mesh generation hopefully removing

spurius faces. CHanged several aspects. Fixed prims inertia that was too
low, still using box as model. Increased number of quickstep SOR
iterations to 15. Keep it 15 even on heavy load ( will only jump
simulation time).

5 files changed, 145 insertions, 205 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
index 0df71eb..5030cec 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
@@ -448,7 +448,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 else
                 {
                     repData.meshState = MeshState.needMesh;
-                    mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true);
+                    mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
                     if (mesh == null)
                     {
                         repData.meshState = MeshState.MeshFailed;
@@ -513,7 +513,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     clod = (int)LevelOfDetail.Low;
             }
 
-            mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true);
+            mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
    
             if (mesh == null)
             {
@@ -929,4 +929,4 @@ namespace OpenSim.Region.Physics.OdePlugin
                     repData.actor.Name);
         }
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index faa9488..7cabddd 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -25,7 +25,7 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

  */

 

-/* Revision 2011/12 by Ubit Umarov

+/* Revision 2011/12/13 by Ubit Umarov

  *

  * 

  */

@@ -1736,7 +1736,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             d.BodySetAutoDisableFlag(Body, true);

             d.BodySetAutoDisableSteps(Body, body_autodisable_frames);

-            d.BodySetDamping(Body, .005f, .005f);

+            d.BodySetAutoDisableAngularThreshold(Body, 0.01f);

+            d.BodySetAutoDisableLinearThreshold(Body, 0.01f);

+            d.BodySetDamping(Body, .005f, .001f);

 

             if (m_targetSpace != IntPtr.Zero)

             {

@@ -2144,7 +2146,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             _mass = primMass; // just in case

 

-            d.MassSetBoxTotal(out primdMass, primMass, m_OBB.X, m_OBB.Y, m_OBB.Z);

+            d.MassSetBoxTotal(out primdMass, primMass, 2.0f * m_OBB.X, 2.0f * m_OBB.Y, 2.0f * m_OBB.Z);

 

             d.MassTranslate(ref primdMass,

                                 m_OBBOffset.X,

@@ -2362,6 +2364,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             MakeBody();

         }

 

+ 

         #region changes

 

         private void changeadd()

@@ -3213,7 +3216,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 

                     if (++bodydisablecontrol < 20)

                         return;

-

                     

                     d.BodyEnable(Body);

                 }

@@ -3381,11 +3383,12 @@ namespace OpenSim.Region.Physics.OdePlugin
             }

         }

 

-        public void UpdatePositionAndVelocity()

+        public void UpdatePositionAndVelocity(int frame)

         {

             if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)

             {

-                if (d.BodyIsEnabled(Body) || !_zeroFlag)

+                bool bodyenabled = d.BodyIsEnabled(Body);

+                if (bodyenabled || !_zeroFlag)

                 {

                     bool lastZeroFlag = _zeroFlag;

 

@@ -3478,13 +3481,13 @@ namespace OpenSim.Region.Physics.OdePlugin
                     // tolerance values depende a lot on simulation noise...

                     // use simple math.abs since we dont need to be exact

 

-                    if (

-                        (Math.Abs(_position.X - lpos.X) < 0.001f)

-                        && (Math.Abs(_position.Y - lpos.Y) < 0.001f)

-                        && (Math.Abs(_position.Z - lpos.Z) < 0.001f)

-                        && (Math.Abs(_orientation.X - ori.X) < 0.0001f)

-                        && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f)

-                        && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f)  // ignore W

+                    if (!bodyenabled ||

+                        (Math.Abs(_position.X - lpos.X) < 0.005f)

+                        && (Math.Abs(_position.Y - lpos.Y) < 0.005f)

+                        && (Math.Abs(_position.Z - lpos.Z) < 0.005f)

+                        && (Math.Abs(_orientation.X - ori.X) < 0.001f)

+                        && (Math.Abs(_orientation.Y - ori.Y) < 0.001f)

+                        && (Math.Abs(_orientation.Z - ori.Z) < 0.001f)  // ignore W

                         )

                     {

                         _zeroFlag = true;

@@ -3499,9 +3502,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 

                         _acceleration = _velocity;

 

-                        if ((Math.Abs(vel.X) < 0.001f) &&

-                            (Math.Abs(vel.Y) < 0.001f) &&

-                            (Math.Abs(vel.Z) < 0.001f))

+                        if ((Math.Abs(vel.X) < 0.005f) &&

+                            (Math.Abs(vel.Y) < 0.005f) &&

+                            (Math.Abs(vel.Z) < 0.005f))

                         {

                             _velocity = Vector3.Zero;

                             float t = -m_invTimeStep;

@@ -3538,6 +3541,15 @@ namespace OpenSim.Region.Physics.OdePlugin
                         }

                     }

 

+                    _position.X = lpos.X;

+                    _position.Y = lpos.Y;

+                    _position.Z = lpos.Z;

+

+                    _orientation.X = ori.X;

+                    _orientation.Y = ori.Y;

+                    _orientation.Z = ori.Z;

+                    _orientation.W = ori.W;

+

                     if (_zeroFlag)

                     {

                         if (lastZeroFlag)

@@ -3556,14 +3568,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                         return;

                     }

 

-                    _position.X = lpos.X;

-                    _position.Y = lpos.Y;

-                    _position.Z = lpos.Z;

-

-                    _orientation.X = ori.X;

-                    _orientation.Y = ori.Y;

-                    _orientation.Z = ori.Z;

-                    _orientation.W = ori.W;

                     base.RequestPhysicsterseUpdate();

                     m_lastUpdateSent = false;

                 }

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
index 2923ccf..73ababa 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -680,4 +680,4 @@ namespace OpenSim.Region.Physics.OdePlugin
         public RayFilterFlags filter;
         public Quaternion orientation;
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
index 10d7d50..1f09dc7 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -1869,7 +1869,7 @@ namespace OdeAPI
                 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
                 public static extern void SpaceSetCleanup(IntPtr space, bool mode);
 
-        [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
+        [DllImport("ode.dll", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
         public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
 
         [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 754bc86..49dc03c 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -25,6 +25,7 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
+// Revision 2011/12/13 by Ubit Umarov
 //#define SPAM
 
 using System;
@@ -43,25 +44,7 @@ using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.OdePlugin
 {
-    public enum StatusIndicators : int
-    {
-        Generic = 0,
-        Start = 1,
-        End = 2
-    }
-
-    public struct sCollisionData
-    {
-        public uint ColliderLocalId;
-        public uint CollidedWithLocalId;
-        public int NumberOfCollisions;
-        public int CollisionType;
-        public int StatusIndicator;
-        public int lastframe;
-    }
-
-
-    // colision flags of things others can colide with
+     // colision flags of things others can colide with
     // rays, sensors, probes removed since can't  be colided with
     // The top space where things are placed provided further selection
     // ie physical are in active space nonphysical in static
@@ -188,12 +171,14 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public bool OdeUbitLib = false;
 //        private int threadid = 0;
-        private Random fluidRandomizer = new Random(Environment.TickCount);
+//        private Random fluidRandomizer = new Random(Environment.TickCount);
+
+//        const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
 
-        const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
-        const float MaxERP = 0.8f;
-        const float minERP = 0.1f;
+        const d.ContactFlags comumContactFlags = d.ContactFlags.Bounce | d.ContactFlags.Approx1;
+        const float comumContactERP = 0.7f;
         const float comumContactCFM = 0.0001f;
+        const float comumContactSLIP = 0.000001f;
         
         float frictionMovementMult = 0.8f;
 
@@ -236,8 +221,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public float geomDefaultDensity = 10.000006836f;
 
-        public int geomContactPointsStartthrottle = 3;
-        public int geomUpdatesPerThrottledUpdate = 15;
+//        public int geomContactPointsStartthrottle = 3;
+//        public int geomUpdatesPerThrottledUpdate = 15;
 
         public float bodyPIDD = 35f;
         public float bodyPIDG = 25;
@@ -246,7 +231,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public int bodyFramesAutoDisable = 5;
 
-
         private d.NearCallback nearCallback;
 
         private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
@@ -266,11 +250,12 @@ namespace OpenSim.Region.Physics.OdePlugin
 //        public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
         public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
 
-        private float contactsurfacelayer = 0.002f;
+        private float contactsurfacelayer = 0.001f;
 
         private int contactsPerCollision = 80;
         internal IntPtr ContactgeomsArray = IntPtr.Zero;
         private IntPtr GlobalContactsArray = IntPtr.Zero;
+        private d.Contact SharedTmpcontact = new d.Contact();
 
         const int maxContactsbeforedeath = 4000;
         private volatile int m_global_contactcount = 0;
@@ -283,7 +268,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
         private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
        
-        private int m_physicsiterations = 10;
+        private int m_physicsiterations = 15;
         private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
 //        private PhysicsActor PANull = new NullPhysicsActor();
         private float step_time = 0.0f;
@@ -303,8 +288,6 @@ namespace OpenSim.Region.Physics.OdePlugin
         public IntPtr StaticSpace; // space for the static things around
         public IntPtr GroundSpace; // space for ground
 
-        public IntPtr SharedRay;
-
         // some speedup variables
         private int spaceGridMaxX;
         private int spaceGridMaxY;
@@ -431,8 +414,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                 contactgroup = d.JointGroupCreate(0);
                 //contactgroup
 
-                SharedRay = d.CreateRay(TopSpace, 1.0f);
-
                 d.WorldSetAutoDisableFlag(world, false);
             }
         }
@@ -481,10 +462,10 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                     metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
 
-                    contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
+//                    contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
 
                     ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
-                    m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
+//                    m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
 
                     avDensity = physicsconfig.GetFloat("av_density", avDensity);
                     avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
@@ -492,8 +473,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                     contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
 
-                    geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
-                    geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
+//                    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);
 
                     geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
@@ -508,6 +489,23 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
             }
 
+
+            d.WorldSetCFM(world, comumContactCFM);
+            d.WorldSetERP(world, comumContactERP);
+
+            d.WorldSetGravity(world, gravityx, gravityy, gravityz);
+
+            d.WorldSetLinearDamping(world, 0.002f);
+            d.WorldSetAngularDamping(world, 0.002f);
+            d.WorldSetAngularDampingThreshold(world, 0f);
+            d.WorldSetLinearDampingThreshold(world, 0f);
+            d.WorldSetMaxAngularSpeed(world, 100f);
+
+            d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
+
+            d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
+            d.WorldSetContactMaxCorrectingVel(world, 60.0f);
+
             m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig);
 
             HalfOdeStep = ODE_STEPSIZE * 0.5f;
@@ -516,6 +514,20 @@ namespace OpenSim.Region.Physics.OdePlugin
             ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
             GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
 
+            SharedTmpcontact.geom.g1 = IntPtr.Zero;
+            SharedTmpcontact.geom.g2 = IntPtr.Zero;
+
+            SharedTmpcontact.geom.side1 = -1;
+            SharedTmpcontact.geom.side2 = -1;
+
+            SharedTmpcontact.surface.mode = comumContactFlags;
+            SharedTmpcontact.surface.mu = 0;
+            SharedTmpcontact.surface.bounce = 0;
+            SharedTmpcontact.surface.soft_cfm = comumContactCFM;
+            SharedTmpcontact.surface.soft_erp = comumContactERP;
+            SharedTmpcontact.surface.slip1 = comumContactSLIP;
+            SharedTmpcontact.surface.slip2 = comumContactSLIP;
+
             m_materialContactsData[(int)Material.Stone].mu = 0.8f;
             m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
 
@@ -540,27 +552,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_materialContactsData[(int)Material.light].mu = 0.0f;
             m_materialContactsData[(int)Material.light].bounce = 0.0f;
 
-            // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
-
-            d.WorldSetGravity(world, gravityx, gravityy, gravityz);
-            d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
-
-            d.WorldSetLinearDamping(world, 0.002f);
-            d.WorldSetAngularDamping(world, 0.002f);
-            d.WorldSetAngularDampingThreshold(world, 0f);
-            d.WorldSetLinearDampingThreshold(world, 0f);
-            d.WorldSetMaxAngularSpeed(world, 100f);
-
-            d.WorldSetCFM(world,1e-6f); // a bit harder than default
-            //d.WorldSetCFM(world, 1e-4f); // a bit harder than default
-            d.WorldSetERP(world, 0.6f); // higher than original
-
-            // Set how many steps we go without running collision testing
-            // This is in addition to the step size.
-            // Essentially Steps * m_physicsiterations
-            d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
-
-            d.WorldSetContactMaxCorrectingVel(world, 60.0f);
 
             spacesPerMeter = 1 / metersInSpace;
             spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
@@ -631,40 +622,21 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         // sets a global contact for a joint for contactgeom , and base contact description)
 
-        private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale)
+        
+
+        private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom)
         {
-            if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
+            if (m_global_contactcount >= maxContactsbeforedeath)
                 return IntPtr.Zero;
 
-            float erp = contactGeom.depth;
-            erp *= erpscale;
-            if (erp < minERP)
-                erp = minERP;
-            else if (erp > MaxERP)
-                erp = MaxERP;
-
-            float depth = contactGeom.depth * dscale;
-            if (depth > 0.5f)
-                depth = 0.5f;
-
-            d.Contact newcontact = new d.Contact();
-            newcontact.geom.depth = depth;
-            newcontact.geom.g1 = contactGeom.g1;
-            newcontact.geom.g2 = contactGeom.g2;
-            newcontact.geom.pos = contactGeom.pos;
-            newcontact.geom.normal = contactGeom.normal;
-            newcontact.geom.side1 = contactGeom.side1;
-            newcontact.geom.side2 = contactGeom.side2;
-
-            // this needs bounce also
-            newcontact.surface.mode = comumContactFlags;
-            newcontact.surface.mu = mu;
-            newcontact.surface.bounce = bounce;
-            newcontact.surface.soft_cfm = cfm;
-            newcontact.surface.soft_erp = erp;
+            m_global_contactcount++;
+
+            SharedTmpcontact.geom.depth = contactGeom.depth;
+            SharedTmpcontact.geom.pos = contactGeom.pos;
+            SharedTmpcontact.geom.normal = contactGeom.normal;
 
             IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
-            Marshal.StructureToPtr(newcontact, contact, true);
+            Marshal.StructureToPtr(SharedTmpcontact, contact, true);
             return d.JointCreateContactPtr(world, contactgroup, contact);
         }
 
@@ -825,10 +797,12 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (!GetCurContactGeom(0, ref curContact))
                 return;
 
+            ContactPoint maxDepthContact = new ContactPoint();
+
             // do volume detection case
             if ((p1.IsVolumeDtc || p2.IsVolumeDtc))
             {
-                ContactPoint maxDepthContact = new ContactPoint(
+                maxDepthContact = new ContactPoint(
                     new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
                     new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
                     curContact.depth, false
@@ -842,10 +816,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             float mu = 0;
             float bounce = 0;
-            float cfm = 0.0001f;
-            float erpscale = 1.0f;
-            float dscale = 1.0f;
-            bool IgnoreNegSides = false;
+//            bool IgnoreNegSides = false;
 
             ContactData contactdata1 = new ContactData(0, 0, false);
             ContactData contactdata2 = new ContactData(0, 0, false);
@@ -890,7 +861,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                             break;
 
                         case (int)ActorTypes.Prim:
-                            if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
+                            Vector3 relV = p1.Velocity - p2.Velocity;
+                            float relVlenSQ = relV.LengthSquared();
+                            if (relVlenSQ > 0.0001f)
                             {
                                 p1.CollidingObj = true;
                                 p2.CollidingObj = true;
@@ -900,21 +873,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             bounce = contactdata1.bounce * contactdata2.bounce;
                             mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
 
-                            cfm = p1.Mass;
-                            if (cfm > p2.Mass)
-                                cfm = p2.Mass;
-                            dscale = 10 / cfm;
-                            dscale = (float)Math.Sqrt(dscale);
-                            if (dscale > 1.0f)
-                                dscale = 1.0f;
-                            erpscale = cfm * 0.01f;
-                            cfm = 0.0001f / cfm;
-                            if (cfm > 0.01f)
-                                cfm = 0.01f;
-                            else if (cfm < 0.00001f)
-                                cfm = 0.00001f;
-
-                            if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
+                            if (relVlenSQ > 0.01f)
                                 mu *= frictionMovementMult;
 
                             break;
@@ -923,27 +882,17 @@ namespace OpenSim.Region.Physics.OdePlugin
                             p1.getContactData(ref contactdata1);
                             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)
                                 mu *= frictionMovementMult;
                             p1.CollidingGround = true;
-
-                            cfm = p1.Mass;
-                            dscale = 10 / cfm;
-                            dscale = (float)Math.Sqrt(dscale);
-                            if (dscale > 1.0f)
-                                dscale = 1.0f;
-                            erpscale = cfm * 0.01f;
-                            cfm = 0.0001f / cfm;
-                            if (cfm > 0.01f)
-                                cfm = 0.01f;
-                            else if (cfm < 0.00001f)
-                                cfm = 0.00001f;
-
+/*
                             if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
                             {
                                 if (curContact.side1 > 0)
                                     IgnoreNegSides = true;
                             }
+ */
                             break;
 
                         case (int)ActorTypes.Water:
@@ -961,22 +910,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                         bounce = contactdata2.bounce * TerrainBounce;
                         mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
 
-                        cfm = p2.Mass;
-                        dscale = 10 / cfm;
-                        dscale = (float)Math.Sqrt(dscale);
-
-                        if (dscale > 1.0f)
-                            dscale = 1.0f;
-
-                        erpscale = cfm * 0.01f;
-                        cfm = 0.0001f / cfm;
-                        if (cfm > 0.01f)
-                            cfm = 0.01f;
-                        else if (cfm < 0.00001f)
-                            cfm = 0.00001f;
-
-                        if (curContact.side1 > 0) // should be 2 ?
-                            IgnoreNegSides = true;
+//                        if (curContact.side1 > 0) // should be 2 ?
+//                            IgnoreNegSides = true;
 
                         if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
                             mu *= frictionMovementMult;
@@ -993,26 +928,24 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (ignore)
                 return;
 
-
-            d.ContactGeom maxContact = curContact;
-            //            if (IgnoreNegSides && curContact.side1 < 0)
-            //                maxContact.depth = float.MinValue;
-
-            d.ContactGeom minContact = curContact;
-            //            if (IgnoreNegSides && curContact.side1 < 0)
-            //                minContact.depth = float.MaxValue;
-
             IntPtr Joint;
             bool FeetCollision = false;
             int ncontacts = 0;
 
-
             int i = 0;
 
+            maxDepthContact = new ContactPoint();
+            maxDepthContact.PenetrationDepth = float.MinValue;
+            ContactPoint minDepthContact = new ContactPoint();
+            minDepthContact.PenetrationDepth = float.MaxValue;
+
+            SharedTmpcontact.geom.depth = 0;
+            SharedTmpcontact.surface.mu = mu;
+            SharedTmpcontact.surface.bounce = bounce;
+
             while (true)
             {
-
-//                    if (!(IgnoreNegSides && curContact.side1 < 0))
+//                if (!(IgnoreNegSides && curContact.side1 < 0))
                 {
                     bool noskip = true;
                     if (dop1ava)
@@ -1029,26 +962,32 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                     if (noskip)
                     {
-                        m_global_contactcount++;
-                        if (m_global_contactcount >= maxContactsbeforedeath)
-                            break;
-
-                        ncontacts++;
-
-                        Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
+                        Joint = CreateContacJoint(ref curContact);
                         if (Joint == IntPtr.Zero)
                             break;
 
                         d.JointAttach(Joint, b1, b2);
 
-                        if (curContact.depth > maxContact.depth)
-                            maxContact = curContact;
+                        ncontacts++;
+
+                        if (curContact.depth > maxDepthContact.PenetrationDepth)
+                        {
+                            maxDepthContact.Position.X = curContact.pos.X;
+                            maxDepthContact.Position.Y = curContact.pos.Y;
+                            maxDepthContact.Position.Z = curContact.pos.Z;
+                            maxDepthContact.PenetrationDepth = curContact.depth;
+                            maxDepthContact.CharacterFeet = FeetCollision;
+                        }
 
-                        if (curContact.depth < minContact.depth)
-                            minContact = curContact;
+                        if (curContact.depth < minDepthContact.PenetrationDepth)
+                        {
+                            minDepthContact.PenetrationDepth = curContact.depth;
+                            minDepthContact.SurfaceNormal.X = curContact.normal.X;
+                            minDepthContact.SurfaceNormal.Y = curContact.normal.Y;
+                            minDepthContact.SurfaceNormal.Z = curContact.normal.Z;
+                        }
                     }
                 }
-
                 if (++i >= count)
                     break;
 
@@ -1058,11 +997,10 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             if (ncontacts > 0)
             {
-                ContactPoint maxDepthContact = new ContactPoint(
-                            new Vector3(maxContact.pos.X, maxContact.pos.Y, maxContact.pos.Z),
-                            new Vector3(minContact.normal.X, minContact.normal.Y, minContact.normal.Z),
-                            maxContact.depth, FeetCollision
-                            );
+                maxDepthContact.SurfaceNormal.X = minDepthContact.SurfaceNormal.X;
+                maxDepthContact.SurfaceNormal.Y = minDepthContact.SurfaceNormal.Y;
+                maxDepthContact.SurfaceNormal.Z = minDepthContact.SurfaceNormal.Z;
+
                 collision_accounting_events(p1, p2, maxDepthContact);
             }
         }
@@ -1629,16 +1567,15 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (framecount < 0)
                 framecount = 0;
 
-
             framecount++;
 
-            int curphysiteractions;
+//            int curphysiteractions;
 
             // if in trouble reduce step resolution
-            if (step_time >= m_SkipFramesAtms)
-                curphysiteractions = m_physicsiterations / 2;
-            else
-                curphysiteractions = m_physicsiterations;
+//            if (step_time >= m_SkipFramesAtms)
+//                curphysiteractions = m_physicsiterations / 2;
+//            else
+//                curphysiteractions = m_physicsiterations;
 
 //            checkThread();
             int nodeframes = 0;
@@ -1653,14 +1590,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
 
                 ODEchangeitem item;
-
-
                 
-                d.WorldSetQuickStepNumIterations(world, curphysiteractions);
+//                d.WorldSetQuickStepNumIterations(world, curphysiteractions);
 
                 int loopstartMS = Util.EnvironmentTickCount();
                 int looptimeMS = 0;
-                
+             
 
                 while (step_time > HalfOdeStep)
                 {
@@ -1763,6 +1698,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                         // do a ode simulation step
                         d.WorldQuickStep(world, ODE_STEPSIZE);
+//                        d.WorldStep(world, ODE_STEPSIZE);
                         d.JointGroupEmpty(contactgroup);
 
                         // update managed ideia of physical data and do updates to core
@@ -1789,7 +1725,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 {
                                     if (actor.IsPhysical)
                                     {
-                                        actor.UpdatePositionAndVelocity();
+                                        actor.UpdatePositionAndVelocity(framecount);
                                     }
                                 }
                             }