From 185d3bd39eb371c769c9e0958f5e143a1e5c9a47 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Sun, 8 Nov 2015 01:47:54 +0000
Subject:  change maximum angular velocity to a value derived from heartbeat
 rate and Nyquist.

---
 OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs  |  8 +++-----
 OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs | 10 ++++++++--
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
index 2752449..1dbf164 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
@@ -1806,7 +1806,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
             d.BodySetAutoDisableAngularThreshold(Body, 0.05f);
             d.BodySetAutoDisableLinearThreshold(Body, 0.05f);
-            d.BodySetDamping(Body, .008f, .005f);
+            d.BodySetDamping(Body, .004f, .001f);
 
             if (m_targetSpace != IntPtr.Zero)
             {
@@ -2070,8 +2070,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             _mass = objdmass.mass;
         }
 
-
-
         private void FixInertia(Vector3 NewPos)
         {
             d.Matrix3 primmat = new d.Matrix3();
@@ -3135,9 +3133,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         private void changeangvelocity(Vector3 newAngVel)
         {
             float len = newAngVel.LengthSquared();
-            if (len > 144.0f) // limit to 12rad/s
+            if (len > _parent_scene.maxAngVelocitySQ)
             {
-                len = 12.0f / (float)Math.Sqrt(len);
+                len = _parent_scene.maximumAngularVelocity / (float)Math.Sqrt(len);
                 newAngVel *= len;
             }
 
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
index 2da2603..ebffda2 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -216,9 +216,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         private float avMovementDivisorRun = 0.8f;
         private float minimumGroundFlightOffset = 3f;
         public float maximumMassObject = 10000.01f;
-
         public float geomDefaultDensity = 10.0f;
 
+        public float maximumAngularVelocity = 12.0f; // default 12rad/s
+        public float maxAngVelocitySQ = 144f;   // squared value
+
         public float bodyPIDD = 35f;
         public float bodyPIDG = 25;
 
@@ -493,6 +495,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 }
             }
 
+            float heartbeat = 1/m_frameWorkScene.MinFrameTime;
+            maximumAngularVelocity = 0.49f * heartbeat *(float)Math.PI;
+            maxAngVelocitySQ = maximumAngularVelocity * maximumAngularVelocity;
+
             d.WorldSetCFM(world, comumContactCFM);
             d.WorldSetERP(world, comumContactERP);
 
@@ -502,7 +508,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             d.WorldSetAngularDamping(world, 0.002f);
             d.WorldSetAngularDampingThreshold(world, 0f);
             d.WorldSetLinearDampingThreshold(world, 0f);
-            d.WorldSetMaxAngularSpeed(world, 100f);
+            d.WorldSetMaxAngularSpeed(world, maximumAngularVelocity);
 
             d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
 
-- 
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