2 files changed, 27 insertions, 2 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index f164048..3291b79 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -1500,6 +1500,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                 if (m_usePID)
                 {
+                    //if (!d.BodyIsEnabled(Body))
+                    //d.BodySetForce(Body, 0f, 0f, 0f);
                     // If we're using the PID controller, then we have no gravity
                     fz = (-1 * _parent_scene.gravityz) * m_mass;
 
@@ -1510,7 +1512,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                     if ((m_PIDTau < 1))
                     {
-                        PID_G = PID_G / m_PIDTau;
+                        //PID_G = PID_G / m_PIDTau;
+                        m_PIDTau = 1;
                     }
 
                     if ((PID_G - m_PIDTau) <= 0)
@@ -1668,6 +1671,20 @@ namespace OpenSim.Region.Physics.OdePlugin
                         d.BodySetForce(Body, 0, 0, 0);
                         enableBodySoft();
                     }
+
+                    // 35x10 = 350n times the mass per second applied maximum.
+                    float nmax = 35f * m_mass;
+                    float nmin = -35f * m_mass;
+
+                    
+                    if (fx > nmax)
+                        fx = nmax;
+                    if (fx < nmin)
+                        fx = nmin;
+                    if (fy > nmax)
+                        fy = nmax;
+                    if (fy < nmin)
+                        fy = nmin;
                     d.BodyAddForce(Body, fx, fy, fz);
                 }
             }
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index b94f374..0a6faa8 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -482,6 +482,12 @@ namespace OpenSim.Region.Physics.OdePlugin
             d.WorldSetGravity(world, gravityx, gravityy, gravityz);
             d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
 
+            d.WorldSetLinearDamping(world, 256f);
+            d.WorldSetAngularDamping(world, 256f);
+            d.WorldSetAngularDampingThreshold(world, 256f);
+            d.WorldSetLinearDampingThreshold(world, 256f);
+            d.WorldSetMaxAngularSpeed(world, 256f);
+
             // Set how many steps we go without running collision testing
             // This is in addition to the step size.
             // Essentially Steps * m_physicsiterations
@@ -2296,9 +2302,11 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                 // Figure out the Frames Per Second we're going at.
                 //(step_time == 0.004f, there's 250 of those per second.   Times the step time/step size
-                step_time = 0.09375f;
+                
                 fps = (step_time/ODE_STEPSIZE) * 1000;
 
+                step_time = 0.09375f;
+
                 while (step_time > 0.0f)
                 {
                     //lock (ode)