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);
                                     }
                                 }
                             }