* Log progress messages when loading OAR files with a lot of assets

* Change the PhysicsCollision callback for objects to send full contact point information. This will be used to calculate the collision plane for avatars
* Send the physics engine velocity in terse updates, not the current force being applied to the avatar. This should fix several issues including crouching through the floor and walking through walls

4 files changed, 92 insertions, 72 deletions

diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index 6bfdff2..f58129d 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -52,6 +52,20 @@ namespace OpenSim.Region.Physics.Manager
         , Absolute
     }
 
+    public struct ContactPoint
+    {
+        public Vector3 Position;
+        public Vector3 SurfaceNormal;
+        public float PenetrationDepth;
+
+        public ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth)
+        {
+            Position = position;
+            SurfaceNormal = surfaceNormal;
+            PenetrationDepth = penetrationDepth;
+        }
+    }
+
     public class CollisionEventUpdate : EventArgs
     {
         // Raising the event on the object, so don't need to provide location..  further up the tree knows that info.
@@ -59,9 +73,9 @@ namespace OpenSim.Region.Physics.Manager
         public int m_colliderType;
         public int m_GenericStartEnd;
         //public uint m_LocalID;
-        public Dictionary<uint,float> m_objCollisionList = new Dictionary<uint,float>();
+        public Dictionary<uint, ContactPoint> m_objCollisionList = new Dictionary<uint, ContactPoint>();
 
-        public CollisionEventUpdate(uint localID, int colliderType, int GenericStartEnd, Dictionary<uint, float> objCollisionList)
+        public CollisionEventUpdate(uint localID, int colliderType, int GenericStartEnd, Dictionary<uint, ContactPoint> objCollisionList)
         {
             m_colliderType = colliderType;
             m_GenericStartEnd = GenericStartEnd;
@@ -72,8 +86,7 @@ namespace OpenSim.Region.Physics.Manager
         {
             m_colliderType = (int) ActorTypes.Unknown;
             m_GenericStartEnd = 1;
-           // m_objCollisionList = null;
-            m_objCollisionList = new Dictionary<uint, float>();
+            m_objCollisionList = new Dictionary<uint, ContactPoint>();
         }
 
         public int collidertype
@@ -88,16 +101,16 @@ namespace OpenSim.Region.Physics.Manager
             set { m_GenericStartEnd = value; }
         }
 
-        public void addCollider(uint localID, float depth)
+        public void addCollider(uint localID, ContactPoint contact)
         {
             if (!m_objCollisionList.ContainsKey(localID))
             {
-                m_objCollisionList.Add(localID, depth);
+                m_objCollisionList.Add(localID, contact);
             }
             else
             {
-                if (m_objCollisionList[localID] < depth)
-                    m_objCollisionList[localID] = depth;
+                if (m_objCollisionList[localID].PenetrationDepth < contact.PenetrationDepth)
+                    m_objCollisionList[localID] = contact;
             }
         }
     }
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index c86bc62..1bc4a25 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -1209,11 +1209,11 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_requestedUpdateFrequency = 0;
             m_eventsubscription = 0;
         }
-        public void AddCollisionEvent(uint CollidedWith, float depth)
+        public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
         {
             if (m_eventsubscription > 0)
             {
-                CollisionEventsThisFrame.addCollider(CollidedWith, depth);
+                CollisionEventsThisFrame.addCollider(CollidedWith, contact);
             }
         }
 
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 5ff9d32..f4b502a 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -2958,11 +2958,11 @@ Console.WriteLine(" JointCreateFixed");
             m_eventsubscription = 0;
         }
 
-        public void AddCollisionEvent(uint CollidedWith, float depth)
+        public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
         {
             if (CollisionEventsThisFrame == null)
                 CollisionEventsThisFrame = new CollisionEventUpdate();
-            CollisionEventsThisFrame.addCollider(CollidedWith,depth);
+            CollisionEventsThisFrame.addCollider(CollidedWith, contact);
         }
 
         public void SendCollisions()
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 7caaa14..a8e006b 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -807,7 +807,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 p2 = PANull;
             }
 
-            float max_collision_depth = 0f;
+            ContactPoint maxDepthContact = new ContactPoint();
             if (p1.CollisionScore + count >= float.MaxValue)
                 p1.CollisionScore = 0;
             p1.CollisionScore += count;
@@ -818,9 +818,17 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             for (int i = 0; i < count; i++)
             {
+                d.ContactGeom curContact = contacts[i];
 
+                if (curContact.depth > maxDepthContact.PenetrationDepth)
+                {
+                    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
+                    );
+                }
 
-                max_collision_depth = (contacts[i].depth > max_collision_depth) ? contacts[i].depth : max_collision_depth;
                 //m_log.Warn("[CCOUNT]: " + count);
                 IntPtr joint;
                 // If we're colliding with terrain, use 'TerrainContact' instead of contact.
@@ -853,14 +861,14 @@ namespace OpenSim.Region.Physics.OdePlugin
                 #region InterPenetration Handling - Unintended physics explosions
 # region disabled code1
 
-                if (contacts[i].depth >= 0.08f)
+                if (curContact.depth >= 0.08f)
                 {
                     //This is disabled at the moment only because it needs more tweaking
                     //It will eventually be uncommented
                     /*
-                    if (contacts[i].depth >= 1.00f)
+                    if (contact.depth >= 1.00f)
                     {
-                        //m_log.Debug("[PHYSICS]: " + contacts[i].depth.ToString());
+                        //m_log.Debug("[PHYSICS]: " + contact.depth.ToString());
                     }
 
                     //If you interpenetrate a prim with an agent
@@ -870,37 +878,37 @@ namespace OpenSim.Region.Physics.OdePlugin
                          p2.PhysicsActorType == (int) ActorTypes.Prim))
                     {
                         
-                        //contacts[i].depth = contacts[i].depth * 4.15f;
+                        //contact.depth = contact.depth * 4.15f;
                         /*
                         if (p2.PhysicsActorType == (int) ActorTypes.Agent)
                         {
                             p2.CollidingObj = true;
-                            contacts[i].depth = 0.003f;
+                            contact.depth = 0.003f;
                             p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
                             OdeCharacter character = (OdeCharacter) p2;
                             character.SetPidStatus(true);
-                            contacts[i].pos = new d.Vector3(contacts[i].pos.X + (p1.Size.X / 2), contacts[i].pos.Y + (p1.Size.Y / 2), contacts[i].pos.Z + (p1.Size.Z / 2));
+                            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));
 
                         }
                         else
                         {
 
-                            //contacts[i].depth = 0.0000000f;
+                            //contact.depth = 0.0000000f;
                         }
                         if (p1.PhysicsActorType == (int) ActorTypes.Agent)
                         {
 
                             p1.CollidingObj = true;
-                            contacts[i].depth = 0.003f;
+                            contact.depth = 0.003f;
                             p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
-                            contacts[i].pos = new d.Vector3(contacts[i].pos.X + (p2.Size.X / 2), contacts[i].pos.Y + (p2.Size.Y / 2), contacts[i].pos.Z + (p2.Size.Z / 2));
+                            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));
                             OdeCharacter character = (OdeCharacter)p1;
                             character.SetPidStatus(true);
                         }
                         else
                         {
 
-                            //contacts[i].depth = 0.0000000f;
+                            //contact.depth = 0.0000000f;
                         }
                           
                         
@@ -925,7 +933,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             //AddPhysicsActorTaint(p2);
                         //}
 
-                        //if (contacts[i].depth >= 0.25f)
+                        //if (contact.depth >= 0.25f)
                         //{
                             // Don't collide, one or both prim will expld.
 
@@ -943,21 +951,21 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 //AddPhysicsActorTaint(p2);
                             //}
 
-                            //contacts[i].depth = contacts[i].depth / 8f;
-                            //contacts[i].normal = new d.Vector3(0, 0, 1);
+                            //contact.depth = contact.depth / 8f;
+                            //contact.normal = new d.Vector3(0, 0, 1);
                         //}
                         //if (op1.m_disabled || op2.m_disabled)
                         //{
                             //Manually disabled objects stay disabled
-                            //contacts[i].depth = 0f;
+                            //contact.depth = 0f;
                         //}
                         #endregion
                     }
                     */
 #endregion
-                    if (contacts[i].depth >= 1.00f)
+                    if (curContact.depth >= 1.00f)
                     {
-                        //m_log.Info("[P]: " + contacts[i].depth.ToString());
+                        //m_log.Info("[P]: " + contact.depth.ToString());
                         if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
                              p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
                             (p1.PhysicsActorType == (int) ActorTypes.Agent &&
@@ -970,12 +978,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     OdeCharacter character = (OdeCharacter) p2;
 
                                     //p2.CollidingObj = true;
-                                    contacts[i].depth = 0.00000003f;
+                                    curContact.depth = 0.00000003f;
                                     p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
-                                    contacts[i].pos =
-                                        new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
-                                                      contacts[i].pos.Y + (p1.Size.Y/2),
-                                                      contacts[i].pos.Z + (p1.Size.Z/2));
+                                    curContact.pos =
+                                        new d.Vector3(curContact.pos.X + (p1.Size.X/2),
+                                                      curContact.pos.Y + (p1.Size.Y/2),
+                                                      curContact.pos.Z + (p1.Size.Z/2));
                                     character.SetPidStatus(true);
                                 }
                             }
@@ -988,12 +996,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     OdeCharacter character = (OdeCharacter) p1;
 
                                     //p2.CollidingObj = true;
-                                    contacts[i].depth = 0.00000003f;
+                                    curContact.depth = 0.00000003f;
                                     p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
-                                    contacts[i].pos =
-                                        new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
-                                                      contacts[i].pos.Y + (p1.Size.Y/2),
-                                                      contacts[i].pos.Z + (p1.Size.Z/2));
+                                    curContact.pos =
+                                        new d.Vector3(curContact.pos.X + (p1.Size.X/2),
+                                                      curContact.pos.Y + (p1.Size.Y/2),
+                                                      curContact.pos.Z + (p1.Size.Z/2));
                                     character.SetPidStatus(true);
                                 }
                             }
@@ -1015,16 +1023,15 @@ namespace OpenSim.Region.Physics.OdePlugin
                 if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
                     skipThisContact = true;   // No collision on volume detect prims
 
-                if (!skipThisContact && contacts[i].depth < 0f)
+                if (!skipThisContact && curContact.depth < 0f)
                     skipThisContact = true;
 
-                if (!skipThisContact && checkDupe(contacts[i], p2.PhysicsActorType))
+                if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType))
                     skipThisContact = true;
 
                 const int maxContactsbeforedeath = 4000;
                 joint = IntPtr.Zero;
 
-
                 if (!skipThisContact)
                 {
                     // If we're colliding against terrain
@@ -1035,8 +1042,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                             (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
                         {
                             // Use the movement terrain contact
-                            AvatarMovementTerrainContact.geom = contacts[i];
-                            _perloopContact.Add(contacts[i]);
+                            AvatarMovementTerrainContact.geom = curContact;
+                            _perloopContact.Add(curContact);
                             if (m_global_contactcount < maxContactsbeforedeath)
                             {
                                 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
@@ -1048,8 +1055,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                             if (p2.PhysicsActorType == (int)ActorTypes.Agent)
                             {
                                 // Use the non moving terrain contact
-                                TerrainContact.geom = contacts[i];
-                                _perloopContact.Add(contacts[i]);
+                                TerrainContact.geom = curContact;
+                                _perloopContact.Add(curContact);
                                 if (m_global_contactcount < maxContactsbeforedeath)
                                 {
                                     joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
@@ -1074,8 +1081,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                         material = ((OdePrim)p2).m_material;
 
                                     //m_log.DebugFormat("Material: {0}", material);
-                                    m_materialContacts[material, movintYN].geom = contacts[i];
-                                    _perloopContact.Add(contacts[i]);
+                                    m_materialContacts[material, movintYN].geom = curContact;
+                                    _perloopContact.Add(curContact);
 
                                     if (m_global_contactcount < maxContactsbeforedeath)
                                     {
@@ -1100,8 +1107,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     if (p2 is OdePrim)
                                         material = ((OdePrim)p2).m_material;
                                     //m_log.DebugFormat("Material: {0}", material);
-                                    m_materialContacts[material, movintYN].geom = contacts[i];
-                                    _perloopContact.Add(contacts[i]);
+                                    m_materialContacts[material, movintYN].geom = curContact;
+                                    _perloopContact.Add(curContact);
 
                                     if (m_global_contactcount < maxContactsbeforedeath)
                                     {
@@ -1129,20 +1136,20 @@ namespace OpenSim.Region.Physics.OdePlugin
                         */
                         //WaterContact.surface.soft_cfm = 0.0000f;
                         //WaterContact.surface.soft_erp = 0.00000f;
-                        if (contacts[i].depth > 0.1f)
+                        if (curContact.depth > 0.1f)
                         {
-                            contacts[i].depth *= 52;
-                            //contacts[i].normal = new d.Vector3(0, 0, 1);
-                            //contacts[i].pos = new d.Vector3(0, 0, contacts[i].pos.Z - 5f);
+                            curContact.depth *= 52;
+                            //contact.normal = new d.Vector3(0, 0, 1);
+                            //contact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
                         }
-                        WaterContact.geom = contacts[i];
-                        _perloopContact.Add(contacts[i]);
+                        WaterContact.geom = curContact;
+                        _perloopContact.Add(curContact);
                         if (m_global_contactcount < maxContactsbeforedeath)
                         {
                             joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
                             m_global_contactcount++;
                         }
-                        //m_log.Info("[PHYSICS]: Prim Water Contact" + contacts[i].depth);
+                        //m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth);
                     }
                     else
                     {
@@ -1153,8 +1160,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                             if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
                             {
                                 // Use the Movement prim contact
-                                AvatarMovementprimContact.geom = contacts[i];
-                                _perloopContact.Add(contacts[i]);
+                                AvatarMovementprimContact.geom = curContact;
+                                _perloopContact.Add(curContact);
                                 if (m_global_contactcount < maxContactsbeforedeath)
                                 {
                                     joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
@@ -1164,8 +1171,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                             else
                             {
                                 // Use the non movement contact
-                                contact.geom = contacts[i];
-                                _perloopContact.Add(contacts[i]);
+                                contact.geom = curContact;
+                                _perloopContact.Add(curContact);
 
                                 if (m_global_contactcount < maxContactsbeforedeath)
                                 {
@@ -1183,8 +1190,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 material = ((OdePrim)p2).m_material;
                             
                             //m_log.DebugFormat("Material: {0}", material);
-                            m_materialContacts[material, 0].geom = contacts[i];
-                            _perloopContact.Add(contacts[i]);
+                            m_materialContacts[material, 0].geom = curContact;
+                            _perloopContact.Add(curContact);
 
                             if (m_global_contactcount < maxContactsbeforedeath)
                             {
@@ -1202,7 +1209,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     }
 
                 }
-                collision_accounting_events(p1, p2, max_collision_depth);
+                collision_accounting_events(p1, p2, maxDepthContact);
                 if (count > geomContactPointsStartthrottle)
                 {
                     // If there are more then 3 contact points, it's likely
@@ -1286,7 +1293,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             return result;
         }
 
-        private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, float collisiondepth)
+        private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
         {
             // obj1LocalID = 0;
             //returncollisions = false;
@@ -1307,7 +1314,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         case ActorTypes.Agent:
                             cc1 = (OdeCharacter)p1;
                             obj2LocalID = cc1.m_localID;
-                            cc1.AddCollisionEvent(cc2.m_localID, collisiondepth);
+                            cc1.AddCollisionEvent(cc2.m_localID, contact);
                             //ctype = (int)CollisionCategories.Character;
 
                             //if (cc1.CollidingObj)
@@ -1322,7 +1329,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             {
                                 cp1 = (OdePrim) p1;
                                 obj2LocalID = cp1.m_localID;
-                                cp1.AddCollisionEvent(cc2.m_localID, collisiondepth);
+                                cp1.AddCollisionEvent(cc2.m_localID, contact);
                             }
                             //ctype = (int)CollisionCategories.Geom;
 
@@ -1342,7 +1349,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             break;
                     }
 
-                    cc2.AddCollisionEvent(obj2LocalID, collisiondepth);
+                    cc2.AddCollisionEvent(obj2LocalID, contact);
                     break;
                 case ActorTypes.Prim:
 
@@ -1358,7 +1365,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 {
                                     cc1 = (OdeCharacter) p1;
                                     obj2LocalID = cc1.m_localID;
-                                    cc1.AddCollisionEvent(cp2.m_localID, collisiondepth);
+                                    cc1.AddCollisionEvent(cp2.m_localID, contact);
                                     //ctype = (int)CollisionCategories.Character;
 
                                     //if (cc1.CollidingObj)
@@ -1374,7 +1381,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 {
                                     cp1 = (OdePrim) p1;
                                     obj2LocalID = cp1.m_localID;
-                                    cp1.AddCollisionEvent(cp2.m_localID, collisiondepth);
+                                    cp1.AddCollisionEvent(cp2.m_localID, contact);
                                     //ctype = (int)CollisionCategories.Geom;
 
                                     //if (cp1.CollidingObj)
@@ -1395,7 +1402,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 break;
                         }
 
-                        cp2.AddCollisionEvent(obj2LocalID, collisiondepth);
+                        cp2.AddCollisionEvent(obj2LocalID, contact);
                     }
                     break;
             }