* Reduce the velocity tolerance on sending terse updates to avoid slowly drifting prims/avatars

* Added contacts_per_collision to the ODE config section. This allows you to reduce the maximum number of contact points ODE will generate per collision and reduce the size of the array that stores contact structures

OpenSim/Region/Framework/Scenes/SceneObjectPart.cs

@@ -2394,7 +2394,7 @@ if (m_shape != null) {
         /// </summary>
         public void SendScheduledUpdates()
         {
-            const float VELOCITY_TOLERANCE = 0.01f;
+            const float VELOCITY_TOLERANCE = 0.0001f;
             const float POSITION_TOLERANCE = 0.1f;
             const int TIME_MS_TOLERANCE = 3000;
 

OpenSim/Region/Framework/Scenes/ScenePresence.cs

@@ -2362,7 +2362,7 @@ namespace OpenSim.Region.Framework.Scenes
 
         public override void Update()
         {
-            const float VELOCITY_TOLERANCE = 0.01f;
+            const float VELOCITY_TOLERANCE = 0.0001f;
             const float POSITION_TOLERANCE = 10.0f;
             const int TIME_MS_TOLERANCE = 3000;
 

OpenSim/Region/Physics/OdePlugin/OdePlugin.cs

@@ -178,8 +178,8 @@ namespace OpenSim.Region.Physics.OdePlugin
         //private int m_returncollisions = 10;
 
         private readonly IntPtr contactgroup;
-        internal IntPtr LandGeom;
 
+        internal IntPtr LandGeom;
         internal IntPtr WaterGeom;
 
         private float nmTerrainContactFriction = 255.0f;
@@ -251,7 +251,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private bool m_NINJA_physics_joints_enabled = false;
         //private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
         private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
-        private d.ContactGeom[] contacts = new d.ContactGeom[80];
+        private d.ContactGeom[] contacts;
         private readonly List<PhysicsJoint> requestedJointsToBeCreated = new List<PhysicsJoint>(); // lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
         private readonly List<PhysicsJoint> pendingJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
         private readonly List<PhysicsJoint> activeJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
@@ -397,6 +397,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 avStandupTensor = 550000f;
             }
 
+            int contactsPerCollision = 80;
+
             if (m_config != null)
             {
                 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
@@ -439,6 +441,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                     avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
                     avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", true);
 
+                    contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
+
                     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);
@@ -476,10 +480,11 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                     m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
                     minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
-
                 }
             }
 
+            contacts = new d.ContactGeom[contactsPerCollision];
+
             staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
 
             // Centeral contact friction and bounce
@@ -773,6 +778,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 lock (contacts)
                 {
                     count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
+                    if (count > contacts.Length)
+                        m_log.Error("[PHYSICS]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length);
                 }
             }
             catch (SEHException)

bin/OpenSim.ini.example

@@ -578,6 +578,9 @@
     body_pid_derivative = 35
     body_pid_gain = 25
     
+    ; maximum number of contact points to generate per collision
+    contacts_per_collision = 80
+
     ; amount of time a geom/body will try to cross a region border before it gets disabled
     geom_crossing_failures_before_outofbounds = 5