From d50b852d530bd17f2bb5a7964e9ddf81acff9146 Mon Sep 17 00:00:00 2001
From: UbitUmarov <ajlduarte@sapo.pt>
Date: Sat, 7 Jul 2012 03:16:41 +0100
Subject: [PATCH] ODE turn off material dependent friction while vehicle linear
 motor is Effective. Increase a bit world damping of velocities

---
 OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs | 9 ++++++---
 OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs     | 1 +
 OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs    | 4 ++--
 3 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index e27be1eab7..e900c02a6c 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -137,6 +137,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         float m_amdampY;
         float m_amdampZ;
 
+
         public float FrictionFactor
         {
             get
@@ -145,6 +146,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+
         public ODEDynamics(OdePrim rootp)
         {
             rootPrim = rootp;
@@ -345,7 +347,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
                     m_lmEfect = 1.0f; // turn it on
 
-                    m_ffactor = 0.01f;
+                    m_ffactor = 0.0f;
                     if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
                             && !rootPrim.m_isSelected && !rootPrim.m_disabled)
                         d.BodyEnable(rootPrim.Body);
@@ -401,7 +403,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     m_lmEfect = 1.0f; // turn it on
                     m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
 
-                    m_ffactor = 0.01f;
+                    m_ffactor = 0.0f;
                     if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
                             && !rootPrim.m_isSelected && !rootPrim.m_disabled)
                         d.BodyEnable(rootPrim.Body);
@@ -805,7 +807,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
 
                 m_lmEfect *= m_lmDecay;
-                m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
+//                m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
+                m_ffactor = 0.0f;
             }
             else
             {
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 9b3b51b8ba..3d8e6801f6 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -275,6 +275,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                 if (veh != null && veh.Type != Vehicle.TYPE_NONE)
                     cdata.mu *= veh.FrictionFactor;
+//                    cdata.mu *= 0;
             }
         }    
 
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 6c72324ba4..4552f3fb2e 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -526,8 +526,8 @@ namespace OpenSim.Region.Physics.OdePlugin
             d.WorldSetGravity(world, gravityx, gravityy, gravityz);
             d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
 
-            d.WorldSetLinearDamping(world, 0.001f);
-            d.WorldSetAngularDamping(world, 0.001f);
+            d.WorldSetLinearDamping(world, 0.002f);
+            d.WorldSetAngularDamping(world, 0.002f);
             d.WorldSetAngularDampingThreshold(world, 0f);
             d.WorldSetLinearDampingThreshold(world, 0f);
             d.WorldSetMaxAngularSpeed(world, 100f);