From e56ef2720ecd603c9b3c81cbb7c3a0d49d24bf85 Mon Sep 17 00:00:00 2001
From: teravus
Date: Wed, 3 Oct 2012 02:30:23 -0400
Subject: I propose that 0.5m/step change for linear velocity is too big of a
 change to control the reporting of a new angular velocity.   I think that
 this could be here for one of two reasons, 1.  vehicles and llMoveToTarget
 with axis lock, or 2. To attempt to make things look more stable in the
 physics scene then they really are, however, this also really affects the
 angular velocity reporting negatively causing things to spin wildly and jump
 back into place repeatedly.  To compromise, if the prim is a vehicle or is
 being used as a motor target, the original functionality is still applied.  
 If that's not the case, angular velocity is reported with a linear velocity
 of 0.02m/step.   To be clear on the effect of the physical world...  When you
 push things, there's still a lag time where you walk into the object but once
 the object is in motion, it begins to move as you would expect so results in
 slightly more realistic motion.

---
 OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 3056f67..1b47754 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -2600,6 +2600,7 @@ Console.WriteLine(" JointCreateFixed");
             {
                 Vector3 pv = Vector3.Zero;
                 bool lastZeroFlag = _zeroFlag;
+                float m_minvelocity = 0;
                 if (Body != (IntPtr)0) // FIXME -> or if it is a joint
                 {
                     d.Vector3 vec = d.BodyGetPosition(Body);
@@ -2752,8 +2753,21 @@ Console.WriteLine(" JointCreateFixed");
                         _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
                         _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
                         //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
+                       
+                        // Note here that linearvelocity is affecting angular velocity...  so I'm guessing this is a vehicle specific thing... 
+                        // it does make sense to do this for tiny little instabilities with physical prim, however 0.5m/frame is fairly large. 
+                        // reducing this to 0.02m/frame seems to help the angular rubberbanding quite a bit, however, to make sure it doesn't affect elevators and vehicles
+                        // adding these logical exclusion situations to maintain this where I think it was intended to be.
+                        if (m_throttleUpdates || m_usePID || (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) || (Amotor != IntPtr.Zero)) 
+                        {
+                            m_minvelocity = 0.5f;
+                        }
+                        else
+                        {
+                            m_minvelocity = 0.02f;
+                        }
 
-                        if (_velocity.ApproxEquals(pv, 0.5f))
+                        if (_velocity.ApproxEquals(pv, m_minvelocity))
                         {
                             m_rotationalVelocity = pv;
                         }
-- 
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