* Made physical prim stable enough for the general population to turn on. (though I still don't recommend it for welcome regions unless object build is off.

* Updated the ode.dll for windows with a more reasonable stack space reserve.  Linux users will need to type ulimit -s 262144 before starting up OpenSimulator if using Physical Prim to protect against stack collisions. or run the included ./bin/opensim-ode.sh to start up OpenSimulator in ODE mode.
* Added internal collision score and am keeping track of 'high usage' prim.
* Tweaked collisions some more
* Tested up to 460 physical prim in extremely close quarters (which was previously impossible in OpenSim).  After 460 in tight quarters, physics slows down enough to make it hard to do any moving, however..  non physics things still work, such as logging on to the simulator, etc.

OpenSim/Region/Environment/Scenes/Scene.cs

@@ -737,7 +737,7 @@ namespace OpenSim.Region.Environment.Scenes
                 m_statsReporter.addOtherMS(otherMS);
                 m_statsReporter.SetActiveScripts(m_innerScene.GetActiveScripts());
                 m_statsReporter.addScriptLines(m_innerScene.GetScriptLPS());
-
+                m_log.Warn(physicsMS);
             }
             catch (NotImplementedException)
             {

OpenSim/Region/Environment/Scenes/ScenePresence.cs

@@ -100,6 +100,9 @@ namespace OpenSim.Region.Environment.Scenes
         private LLQuaternion m_headrotation = new LLQuaternion();
         private byte m_state = (byte) 0;
 
+        //Reuse the LLVector3 instead of creating a new one on the UpdateMovement method
+        private LLVector3 movementvector = new LLVector3();
+
         private List<LLUUID> m_knownPrimUUID = new List<LLUUID>();
 
         // Agent's Draw distance.
@@ -1660,8 +1663,19 @@ namespace OpenSim.Region.Environment.Scenes
                         NewForce force = m_forcesList[i];
 
                         m_updateflag = true;
-
+                        try
-                        Velocity = new LLVector3(force.X, force.Y, force.Z);
+                        {
+                            movementvector.X = force.X;
+                            movementvector.Y = force.Y;
+                            movementvector.Z = force.Z;
+                            Velocity = movementvector;
+                        }
+                        catch (System.NullReferenceException)
+                        {
+                            // Under extreme load, this returns a NullReference Exception that we can ignore. 
+                            // Ignoring this causes no movement to be sent to the physics engine...  
+                            // which when the scene is moving at 1 frame every 10 seconds, it doesn't really matter!
+                        }
                         m_newForce = true;
                     }
                     for (int i = 0; i < m_forcesList.Count; i++)

OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs

@@ -317,6 +317,11 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
             set { _velocity = value; }
         }
 
+        public override float CollisionScore
+        {
+            get { return 0f; }
+        }
+
         public override Quaternion Orientation
         {
             get { return Quaternion.Identity; }

OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs

@@ -769,7 +769,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 }
             }
         }
-
+        public override float CollisionScore
+        {
+            get { return 0f; }
+        }
         public override PhysicsVector Size
         {
             get { return _size; }

OpenSim/Region/Physics/Manager/PhysicsActor.cs

@@ -172,6 +172,8 @@ namespace OpenSim.Region.Physics.Manager
 
         public abstract PhysicsVector Velocity { get; set; }
 
+        public abstract float CollisionScore { get;}
+
         public abstract PhysicsVector Acceleration { get; }
 
         public abstract Quaternion Orientation { get; set; }
@@ -272,6 +274,12 @@ namespace OpenSim.Region.Physics.Manager
             set { return; }
         }
 
+        public override float CollisionScore 
+        {
+            get { return 0f; }
+        }
+
+
         public override Quaternion Orientation
         {
             get { return Quaternion.Identity; }

OpenSim/Region/Physics/OdePlugin/ODECharacter.cs

@@ -514,6 +514,11 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+        public override float CollisionScore
+        {
+            get { return 0f; }
+        }
+
         public override bool Kinematic
         {
             get { return false; }

OpenSim/Region/Physics/OdePlugin/ODEPrim.cs

@@ -55,6 +55,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private bool m_taintPhysics = false;
         public bool m_taintremove = false;
         public bool m_taintdisable = false;
+        public bool m_disabled = false;
 
         private bool m_taintforce = false;
         private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
@@ -65,10 +66,15 @@ namespace OpenSim.Region.Physics.OdePlugin
         public IntPtr m_targetSpace = (IntPtr) 0;
         public IntPtr prim_geom;
         public IntPtr _triMeshData;
+
         private bool iscolliding = false;
         private bool m_isphysical = false;
         private bool m_throttleUpdates = false;
         private int throttleCounter = 0;
+        public int m_interpenetrationcount = 0;
+        public int m_collisionscore = 0;
+        public int m_roundsUnderMotionThreshold = 0;
+
         public bool outofBounds = false;
         private float m_density = 10.000006836f; // Aluminum g/cm3;
 
@@ -257,6 +263,10 @@ namespace OpenSim.Region.Physics.OdePlugin
             d.GeomSetBody(prim_geom, Body);
             d.BodySetAutoDisableFlag(Body, true);
             d.BodySetAutoDisableSteps(Body, 20);
+            
+            m_interpenetrationcount = 0;
+            m_collisionscore = 0;
+            m_disabled = false;
 
             _parent_scene.addActivePrim(this);
         }
@@ -383,6 +393,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.BodyDestroy(Body);
                 Body = (IntPtr) 0;
             }
+            m_disabled = true;
+            m_collisionscore = 0;
         }
 
         public void setMesh(OdeScene parent_scene, IMesh mesh)
@@ -425,7 +437,11 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (IsPhysical && Body == (IntPtr) 0)
             {
                 // Recreate the body
+                m_interpenetrationcount = 0;
+                m_collisionscore = 0;
+                
                 enableBody();
+
             }
         }
 
@@ -485,7 +501,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 _parent_scene.waitForSpaceUnlock(m_targetSpace);
                 d.SpaceAdd(m_targetSpace, prim_geom);
             }
-
+            resetCollisionAccounting();
             m_taintposition = _position;
         }
 
@@ -501,14 +517,23 @@ namespace OpenSim.Region.Physics.OdePlugin
             {
                 d.BodySetQuaternion(Body, ref myrot);
             }
-
+            resetCollisionAccounting();
             m_taintrot = _orientation;
         }
-        public void changedisable(float timestep)
+
+        private void resetCollisionAccounting()
         {
+            m_collisionscore = 0;
+            m_interpenetrationcount = 0;
+            m_disabled = false;
+        }
+
+        public void changedisable(float timestep)
+        {   
+            m_disabled = true;
             if (Body != (IntPtr) 0)
                 d.BodyDisable(Body);
-
+            
             m_taintdisable = false;
         }
 
@@ -528,8 +553,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     disableBody();
                 }
             }
-
+            resetCollisionAccounting();
-
             m_taintPhysics = m_isphysical;
         }
 
@@ -670,7 +694,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
 
             _parent_scene.geom_name_map[prim_geom] = oldname;
-
+            resetCollisionAccounting();
             m_taintsize = _size;
         }
 
@@ -724,7 +748,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.GeomSetQuaternion(prim_geom, ref myrot);
             }
             _parent_scene.geom_name_map[prim_geom] = oldname;
-
+            resetCollisionAccounting();
             m_taintshape = false;
         }
 
@@ -746,6 +770,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
                 m_forcelist.Clear();
             }
+            m_collisionscore = 0;
+            m_interpenetrationcount = 0;
             m_taintforce = false;
 
         }
@@ -759,6 +785,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
                 }
             }
+            resetCollisionAccounting();
             m_taintVelocity = PhysicsVector.Zero;
         }
         public override bool IsPhysical
@@ -865,6 +892,11 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+        public override float CollisionScore
+        {
+            get { return m_collisionscore; }
+        }
+
         public override bool Kinematic
         {
             get { return false; }

OpenSim/Region/Physics/OdePlugin/OdePlugin.cs

@@ -89,6 +89,9 @@ namespace OpenSim.Region.Physics.OdePlugin
         private static float ODE_STEPSIZE = 0.020f;
         private static bool RENDER_FLAG = false;
         private static float metersInSpace = 29.9f;
+
+        private int interpenetrations_before_disable = 35;
+
         private IntPtr contactgroup;
         private IntPtr LandGeom = (IntPtr) 0;
         private float[] _heightmap;
@@ -109,13 +112,18 @@ namespace OpenSim.Region.Physics.OdePlugin
         private d.Contact AvatarMovementprimContact;
         private d.Contact AvatarMovementTerrainContact;
 
+        
+
         private int m_physicsiterations = 10;
         private float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
         private PhysicsActor PANull = new NullPhysicsActor();
         private float step_time = 0.0f;
+        private int ms = 0;
         public IntPtr world;
 
         public IntPtr space;
+
+        private IntPtr tmpSpace;
         // split static geometry collision handling into spaces of 30 meters
         public IntPtr[,] staticPrimspace = new IntPtr[(int) (300/metersInSpace),(int) (300/metersInSpace)];
 
@@ -206,6 +214,14 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+        public void starttiming()
+        {
+            ms = Environment.TickCount;
+        }
+        public int stoptiming()
+        {
+            return Environment.TickCount - ms;
+        }
         // Initialize the mesh plugin
         public override void Initialise(IMesher meshmerizer)
         {
@@ -311,6 +327,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                 for (int i = 0; i < count; i++)
                 {
+                    //m_log.Warn("[CCOUNT]: " + count);
                     IntPtr joint;
                     // If we're colliding with terrain, use 'TerrainContact' instead of contact.
                     // allows us to have different settings
@@ -405,13 +422,46 @@ namespace OpenSim.Region.Physics.OdePlugin
                         // If you interpenetrate a prim with another prim
                         if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
                         {
+                            OdePrim op1 = (OdePrim)p1;
+                            OdePrim op2 = (OdePrim)p2;
+                            op1.m_collisionscore++;
+                            op2.m_collisionscore++;
+                            
+
+                            if (op1.m_collisionscore > 80 || op2.m_collisionscore > 80)
+                            {
+                                op1.m_taintdisable = true;
+                                AddPhysicsActorTaint(p1);
+                                op2.m_taintdisable = true;
+                                AddPhysicsActorTaint(p2);
+                            }
+                           
                             if (contacts[i].depth >= 0.25f)
                             {
                                 // Don't collide, one or both prim will explode.
-                                ((OdePrim)p1).m_taintdisable = true;
+                                
-                                AddPhysicsActorTaint(p1);
+
-                                ((OdePrim)p2).m_taintdisable = true;
+                                op1.m_interpenetrationcount++;
-                                AddPhysicsActorTaint(p2);
+                                op2.m_interpenetrationcount++;
+                                interpenetrations_before_disable = 20;
+                                if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
+                                {
+                                    op1.m_taintdisable = true;
+                                    AddPhysicsActorTaint(p1);
+                                }
+                                if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
+                                {
+                                    op2.m_taintdisable = true;
+                                    AddPhysicsActorTaint(p2);
+                                }
+
+                               
+                                //contacts[i].depth = contacts[i].depth / 8f;
+                                //contacts[i].normal = new d.Vector3(0, 0, 1);
+                            }
+                            if (op1.m_disabled || op2.m_disabled)
+                            {
+                                //Manually disabled objects stay disabled 
                                 contacts[i].depth = 0f;
                             }
                         }
@@ -531,6 +581,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// <param name="timeStep"></param>
         private void collision_optimized(float timeStep)
         {
+            starttiming();
             foreach (OdeCharacter chr in _characters)
             {
                 // Reset the collision values to false
@@ -554,6 +605,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     //forcedZ = true;
                 //}
             }
+            int avms = stoptiming();
 
             // If the sim is running slow this frame, 
             // don't process collision for prim!
@@ -562,9 +614,11 @@ namespace OpenSim.Region.Physics.OdePlugin
                 foreach (OdePrim chr in _activeprims)
                 {
                     // This if may not need to be there..    it might be skipped anyway.
-                    if (d.BodyIsEnabled(chr.Body))
+                    if (d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
                     {
+                        
                         d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
+                        //calculateSpaceForGeom(chr.Position)
                         //foreach (OdePrim ch2 in _prims)
                         /// should be a separate space -- lots of avatars will be N**2 slow
                         //{
@@ -580,6 +634,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         //}
                         //}
                     }
+                    d.SpaceCollide2(LandGeom, chr.prim_geom, IntPtr.Zero, nearCallback);
                 }
             }
             else
@@ -593,6 +648,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                     {
                         // Collide test the prims with the terrain..   since if you don't do this, 
                         // next frame, all of the physical prim in the scene will awaken and explode upwards
+                        tmpSpace = calculateSpaceForGeom(chr.Position);
+                        if (tmpSpace != (IntPtr) 0 && d.GeomIsSpace(tmpSpace))
+                        d.SpaceCollide2(calculateSpaceForGeom(chr.Position), chr.prim_geom, IntPtr.Zero, nearCallback);
                         d.SpaceCollide2(LandGeom, chr.prim_geom, IntPtr.Zero, nearCallback);
                     }
                 }
@@ -1140,7 +1198,14 @@ namespace OpenSim.Region.Physics.OdePlugin
                     }
 
                     collision_optimized(timeStep);
-                    d.WorldQuickStep(world, ODE_STEPSIZE);
+                    try
+                    {
+                        d.WorldQuickStep(world, ODE_STEPSIZE);
+                    }
+                    catch (StackOverflowException)
+                    {
+                        d.WorldQuickStep(world, 0.001f);
+                    }
                     d.JointGroupEmpty(contactgroup);
                     foreach (OdeCharacter actor in _characters)
                     {
@@ -1165,6 +1230,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                         RemovePrimThreadLocked(prim);
                     }
                     processedtaints = true;
+                    prim.m_collisionscore = 0;
+                }
+
+                foreach (OdePrim prim in _activeprims)
+                {
+                    prim.m_collisionscore = 0;
                 }
 
                 if (processedtaints)

OpenSim/Region/Physics/POSPlugin/POSPlugin.cs

@@ -446,6 +446,11 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { _target_velocity = value; }
         }
 
+        public override float CollisionScore
+        {
+            get { return 0f; }
+        }
+
         public override Quaternion Orientation
         {
             get { return Quaternion.Identity; }
@@ -579,6 +584,11 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { _velocity = value; }
         }
 
+        public override float CollisionScore
+        {
+            get { return 0f; }
+        }
+
         public override Quaternion Orientation
         {
             get { return _orientation; }

OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs

@@ -325,6 +325,11 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             set { _velocity = value; }
         }
 
+        public override float CollisionScore
+        {
+            get { return 0f; }
+        }
+
         public override bool Kinematic
         {
             get { return false; }
@@ -503,6 +508,11 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             set { _velocity = value; }
         }
 
+        public override float CollisionScore
+        {
+            get { return 0f; }
+        }
+
         public override bool Kinematic
         {
             get { return _prim.Kinematic; }

bin/opensim-ode.sh

@@ -0,0 +1,5 @@
+#!/bin/sh
+echo "Starting OpenSimulator with ODE.  If you get an error saying limit: Operation not permitted.  Then you will need to chmod 0600 /etc/limits"
+ulimit -s 262144
+sleep 5
+mono OpenSim.exe -physics=OpenDynamicsEngine