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/ODEScene.cs | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs')

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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