update libomv adding NotEqual to vectors and quats; more cosmtics on ubode

OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs

@@ -153,7 +153,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         public ODEDynamics(OdePrim rootp)
         {
             rootPrim = rootp;
-            _pParentScene = rootPrim._parent_scene;
+            _pParentScene = rootPrim.m_parentScene;
             m_timestep = _pParentScene.ODE_STEPSIZE;
             m_invtimestep = 1.0f / m_timestep;
             m_gravmod = rootPrim.GravModifier;
@@ -853,10 +853,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             }
 
             // hover
-            if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero)
+            if (m_VhoverTimescale < 300 && rootPrim.m_prim_geom != IntPtr.Zero)
             {
                 //                d.Vector3 pos = d.BodyGetPosition(Body);
-                SafeNativeMethods.Vector3 pos = SafeNativeMethods.GeomGetPosition(rootPrim.prim_geom);
+                SafeNativeMethods.Vector3 pos = SafeNativeMethods.GeomGetPosition(rootPrim.m_prim_geom);
                 pos.Z -= 0.21f; // minor offset that seems to be always there in sl
 
                 float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
@@ -997,10 +997,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
                     float broll = effroll;
                     /*
-                                        if (broll > halfpi)
-                                            broll = pi - broll;
-                                        else if (broll < -halfpi)
-                                            broll = -pi - broll;
+                    if (broll > halfpi)
+                        broll = pi - broll;
+                    else if (broll < -halfpi)
+                        broll = -pi - broll;
                     */
                     broll *= m_bankingEfficiency;
                     if (m_bankingMix != 0)

OpenSim/Region/PhysicsModules/ubOde/ODERayCastRequestManager.cs

@@ -51,7 +51,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         /// <summary>
         /// Scene that created this object.
         /// </summary>
-        private ODEScene m_scene;
+        private readonly ODEScene m_scene;
 
         IntPtr ray; // the ray. we only need one for our lifetime
         IntPtr Sphere;
@@ -65,9 +65,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         /// <summary>
         /// ODE near callback delegate
         /// </summary>
-        private SafeNativeMethods.NearCallback nearCallback;
+        private readonly SafeNativeMethods.NearCallback nearCallback;
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-        private List<ContactResult> m_contactResults = new List<ContactResult>();
+        private readonly List<ContactResult> m_contactResults = new List<ContactResult>();
         private RayFilterFlags CurrentRayFilter;
         private int CurrentMaxCount;
 
@@ -127,9 +127,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                         if (m_scene.haveActor(req.actor))
                         {
                             if (req.actor is OdePrim)
-                                geom = ((OdePrim)req.actor).prim_geom;
+                                geom = ((OdePrim)req.actor).m_prim_geom;
                             else if (req.actor is OdeCharacter)
-                                geom = ((OdePrim)req.actor).prim_geom;
+                                geom = ((OdePrim)req.actor).m_prim_geom;
                         }
                         if (geom == IntPtr.Zero)
                         {
@@ -649,7 +649,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         /// </summary>
         internal void Dispose()
         {
-            m_scene = null;
             if (ray != IntPtr.Zero)
             {
                 SafeNativeMethods.GeomDestroy(ray);

OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs

@@ -227,21 +227,21 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         private SafeNativeMethods.NearCallback nearCallback;
 
-        private Dictionary<uint,OdePrim> _prims = new Dictionary<uint,OdePrim>();
-        private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
-        private HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
-        private HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
+        private readonly Dictionary<uint,OdePrim> _prims = new Dictionary<uint,OdePrim>();
+        private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
+        private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
+        private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
 
-        public ConcurrentQueue<ODEchangeitem> ChangesQueue = new ConcurrentQueue<ODEchangeitem>();
+        public readonly ConcurrentQueue<ODEchangeitem> ChangesQueue = new ConcurrentQueue<ODEchangeitem>();
 
         /// <summary>
         /// A list of actors that should receive collision events.
         /// </summary>
-        private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
-        private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
+        private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
+        private readonly List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
 
-        private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
-        public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
+        private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
+        public readonly Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
 
         private float contactsurfacelayer = 0.002f;
 
@@ -255,7 +255,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         private IntPtr contactgroup;
 
-        public ContactData[] m_materialContactsData = new ContactData[8];
+        public readonly ContactData[] m_materialContactsData = new ContactData[8];
 
         private IntPtr m_terrainGeom;
         private float[] m_terrainHeights;
@@ -283,8 +283,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         public IntPtr StaticSpace; // space for the static things around
         public IntPtr GroundSpace; // space for ground
 
-        public object OdeLock = new object();
-        public static object SimulationLock = new object();
+        public readonly object OdeLock = new object();
+        public static readonly object SimulationLock = new object();
 
         public IMesher mesher;
 
@@ -1054,10 +1054,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     foreach (OdePrim aprim in _activegroups)
                     {
                         if(!aprim.m_outbounds && SafeNativeMethods.BodyIsEnabled(aprim.Body) &&
-                                aprim.collide_geom != IntPtr.Zero)
+                                aprim.m_collide_geom != IntPtr.Zero)
                         {
-                            SafeNativeMethods.SpaceCollide2(StaticSpace, aprim.collide_geom, IntPtr.Zero, nearCallback);
-                            SafeNativeMethods.SpaceCollide2(GroundSpace, aprim.collide_geom, IntPtr.Zero, nearCallback);
+                            SafeNativeMethods.SpaceCollide2(StaticSpace, aprim.m_collide_geom, IntPtr.Zero, nearCallback);
+                            SafeNativeMethods.SpaceCollide2(GroundSpace, aprim.m_collide_geom, IntPtr.Zero, nearCallback);
                         }
                     }
                 }
@@ -2289,9 +2289,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
             IntPtr geom;
             if (actor is OdePrim)
-                geom = ((OdePrim)actor).prim_geom;
+                geom = ((OdePrim)actor).m_prim_geom;
             else if (actor is OdeCharacter)
-                geom = ((OdePrim)actor).prim_geom;
+                geom = ((OdePrim)actor).m_prim_geom;
             else
                 return new List<ContactResult>();
 
@@ -2405,9 +2405,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             if (actor != null)
             {
                 if (actor is OdePrim)
-                    geom = ((OdePrim)actor).prim_geom;
+                    geom = ((OdePrim)actor).m_prim_geom;
                 else if (actor is OdeCharacter)
-                    geom = ((OdePrim)actor).prim_geom;
+                    geom = ((OdePrim)actor).m_prim_geom;
             }
 
             List<ContactResult> ourResults = null;

OpenSim/Region/PhysicsModules/ubOde/ODESitAvatar.cs

@@ -36,8 +36,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
     /// </summary>
     public class ODESitAvatar
     {
-        private ODEScene m_scene;
-        private ODERayCastRequestManager m_raymanager;
+        private readonly ODEScene m_scene;
+        private readonly ODERayCastRequestManager m_raymanager;
 
         public ODESitAvatar(ODEScene pScene, ODERayCastRequestManager raymanager)
         {
@@ -45,7 +45,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             m_raymanager = raymanager;
         }
 
-        private static Vector3 SitAjust = new Vector3(0, 0, 0.4f);
+        private static readonly Vector3 SitAjust = new Vector3(0, 0, 0.4f);
         private const RayFilterFlags RaySitFlags = RayFilterFlags.AllPrims | RayFilterFlags.ClosestHit;
 
         private void RotAroundZ(float x, float y, ref Quaternion ori)
@@ -64,22 +64,21 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         public void Sit(PhysicsActor actor, Vector3 avPos, Vector3 avCameraPosition, Vector3 offset, Vector3 avOffset, SitAvatarCallback PhysicsSitResponse)
         {
-            if (!m_scene.haveActor(actor) || !(actor is OdePrim) || ((OdePrim)actor).prim_geom == IntPtr.Zero)
+            if (!m_scene.haveActor(actor) || !(actor is OdePrim) || ((OdePrim)actor).m_prim_geom == IntPtr.Zero)
             {
                 PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity);
                 return;
             }
 
-            IntPtr geom = ((OdePrim)actor).prim_geom;
+            IntPtr geom = ((OdePrim)actor).m_prim_geom;
 
             Vector3 geopos = SafeNativeMethods.GeomGetPositionOMV(geom);
             Quaternion geomOri = SafeNativeMethods.GeomGetQuaternionOMV(geom);
 
-//            Vector3 geopos = actor.Position;
-//            Quaternion geomOri = actor.Orientation;
+            //Vector3 geopos = actor.Position;
+            //Quaternion geomOri = actor.Orientation;
 
             Quaternion geomInvOri = Quaternion.Conjugate(geomOri);
-
             Quaternion ori = Quaternion.Identity;
 
             Vector3 rayDir = geopos + offset - avCameraPosition;
@@ -90,25 +89,25 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity);
                 return;
             }
+
             float t = 1 / raylen;
             rayDir.X *= t;
             rayDir.Y *= t;
             rayDir.Z *= t;
 
             raylen += 30f; // focal point may be far
-            List<ContactResult> rayResults;
 
-            rayResults = m_scene.RaycastActor(actor, avCameraPosition, rayDir, raylen, 1, RaySitFlags);
+            List<ContactResult> rayResults = m_scene.RaycastActor(actor, avCameraPosition, rayDir, raylen, 1, RaySitFlags);
             if (rayResults.Count == 0)
             {
-/* if this fundamental ray failed, then just fail so user can try another spot and not be sitted far on a big prim
+                /* if this fundamental ray failed, then just fail so user can try another spot and not be sitted far on a big prim
                 d.AABB aabb;
                 d.GeomGetAABB(geom, out aabb);
                 offset = new Vector3(avOffset.X, 0, aabb.MaxZ + avOffset.Z - geopos.Z);
                 ori = geomInvOri;
                 offset *= geomInvOri;
                 PhysicsSitResponse(1, actor.LocalID, offset, ori);
-*/
+                */
                 PhysicsSitResponse(0, actor.LocalID, offset, ori);
                 return;
             }