Universe.Physics.OpenDynamicsEngine.ODEPhysicsScene.AddODECollision C# (CSharp) Method

        void AddODECollision(d.ContactGeom curContact, PhysicsActor p1, PhysicsActor p2, IntPtr b1, IntPtr b2,
                                     ContactPoint maxDepthContact, ref int NotSkipedCount)
        {
            IntPtr joint = IntPtr.Zero;

            bool p2col = true;

            // We only need to test p2 for 'jump crouch purposes'
            if (p2 is ODECharacter && p1.PhysicsActorType == (int) ActorTypes.Prim)
            {
                // Testing if the collision is at the feet of the avatar
                if ((p2.Position.Z - maxDepthContact.Position.Z) < (p2.Size.Z*0.5f))
                    p2col = false;
            }

            p2.IsTruelyColliding = true;
            p2.IsColliding = p2col;

            // Logic for collision handling
            // Note, that if *all* contacts are skipped (VolumeDetect)
            // The prim still detects (and forwards) collision events but 
            // appears to be phantom for the world

            // No collision on volume detect prims
            if ((p1 is ODEPrim && p1.VolumeDetect) ||
                (p2 is ODEPrim && p2.VolumeDetect))
                return;

            if (curContact.depth < 0f)
                return; //Has to be penetrating

            if (m_filterCollisions &&
                CheckDupe(curContact, p2.PhysicsActorType))
                return;
            if (m_filterCollisions)
                _perloopContact.Add(curContact);

            NotSkipedCount++;

            // If we're colliding against terrain
            if (p1.PhysicsActorType == (int) ActorTypes.Ground)
            {
                if (p2.PhysicsActorType == (int) ActorTypes.Prim)
                {
                    ((ODEPrim) p2).GetContactParam(p2, ref newGlobalcontact);

                    joint = CreateContacJoint(curContact);
                }
                else
                {
                    newGlobalcontact = new d.Contact();
                    newGlobalcontact.surface.mode |= d.ContactFlags.SoftERP;
                    newGlobalcontact.surface.mu = 75;
                    newGlobalcontact.surface.bounce = 0.1f;
                    newGlobalcontact.surface.soft_erp = 0.05025f;
                    //GetContactParam(0.0f, AvatarContactBounce, ref newGlobalcontact);
                    joint = CreateContacJoint(curContact);
                }
                //Can't collide against anything else, agents do their own ground checks
            }
            else if ((p1.PhysicsActorType == (int) ActorTypes.Agent) &&
                     (p2.PhysicsActorType == (int) ActorTypes.Agent))
            {
                GetContactParam(0.0f, AvatarContactBounce, ref newGlobalcontact);

                joint = CreateContacJoint(curContact);
            }
            else if (p1.PhysicsActorType == (int) ActorTypes.Prim)
            {
                //Add restitution and friction changes
                // was.. greythane-20160602 >> // ((ODEPrim) p1).GetContactParam(p2, ref newGlobalcontact);
                ((ODEPrim)p1).GetContactParam (p1, ref newGlobalcontact);

                joint = CreateContacJoint(curContact);
            }

            if (ContinueCollisionProcessing && joint != IntPtr.Zero)
            {
                d.JointAttach(joint, b1, b2);
                lock (_contactcountLock)
                    m_global_contactcount++;
            }
        }