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make old Ode PInvoke follow ms coding rules

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UbitUmarov
2018-01-14 01:40:49 +00:00
parent 88511bfab2
commit 3d87e37d99
7 changed files with 1023 additions and 1026 deletions
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52
OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
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@@ -93,7 +93,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
private float m_linearMotorDecayTimescale = 0;
private float m_linearMotorTimescale = 0;
private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
private d.Vector3 m_lastPositionVector = new d.Vector3();
private SafeNativeMethods.Vector3 m_lastPositionVector = new SafeNativeMethods.Vector3();
// private bool m_LinearMotorSetLastFrame = false;
// private Vector3 m_linearMotorOffset = Vector3.Zero;
@@ -611,7 +611,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
m_lastLinearVelocityVector = Vector3.Zero;
m_lastAngularVelocity = Vector3.Zero;
m_lastPositionVector = d.BodyGetPosition(Body);
m_lastPositionVector = SafeNativeMethods.BodyGetPosition(Body);
}
internal void Step(float pTimestep, OdeScene pParentScene)
@@ -631,8 +631,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
{
if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body);
if (!SafeNativeMethods.BodyIsEnabled(Body))
SafeNativeMethods.BodyEnable(Body);
// add drive to body
Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
@@ -662,7 +662,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
// convert requested object velocity to world-referenced vector
m_dir = m_lastLinearVelocityVector;
d.Quaternion rot = d.BodyGetQuaternion(Body);
SafeNativeMethods.Quaternion rot = SafeNativeMethods.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
m_dir *= rotq; // apply obj rotation to velocity vector
@@ -673,15 +673,15 @@ namespace OpenSim.Region.PhysicsModule.ODE
Vector3 grav = Vector3.Zero;
// There is some gravity, make a gravity force vector
// that is applied after object velocity.
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
SafeNativeMethods.Mass objMass;
SafeNativeMethods.BodyGetMass(Body, out objMass);
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
// Preserve the current Z velocity
d.Vector3 vel_now = d.BodyGetLinearVel(Body);
SafeNativeMethods.Vector3 vel_now = SafeNativeMethods.BodyGetLinearVel(Body);
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
d.Vector3 pos = d.BodyGetPosition(Body);
SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
Vector3 posChange = new Vector3();
posChange.X = pos.X - m_lastPositionVector.X;
@@ -693,33 +693,33 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (pos.X >= (m_BlockingEndPoint.X - (float)1))
{
pos.X -= posChange.X + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
{
pos.Y -= posChange.Y + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
{
pos.Z -= posChange.Z + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.X <= 0)
{
pos.X += posChange.X + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Y <= 0)
{
pos.Y += posChange.Y + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
}
if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
{
pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
// Check if hovering
@@ -748,7 +748,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
{
d.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight);
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight);
}
}
else
@@ -815,12 +815,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
m_dir.Z = 0;
}
m_lastPositionVector = d.BodyGetPosition(Body);
m_lastPositionVector = SafeNativeMethods.BodyGetPosition(Body);
// Apply velocity
d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
SafeNativeMethods.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
// apply gravity force
d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
SafeNativeMethods.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
// apply friction
@@ -841,7 +841,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
*/
// Get what the body is doing, this includes 'external' influences
d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
SafeNativeMethods.Vector3 angularVelocity = SafeNativeMethods.BodyGetAngularVel(Body);
// Vector3 angularVelocity = Vector3.Zero;
if (m_angularMotorApply > 0)
@@ -874,7 +874,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
// get present body rotation
d.Quaternion rot = d.BodyGetQuaternion(Body);
SafeNativeMethods.Quaternion rot = SafeNativeMethods.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
// make a vector pointing up
Vector3 verterr = Vector3.Zero;
@@ -923,7 +923,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{
if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
if (!SafeNativeMethods.BodyIsEnabled (Body)) SafeNativeMethods.BodyEnable (Body);
}
else
{
@@ -935,14 +935,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
// Apply to the body
d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
SafeNativeMethods.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
} //end MoveAngular
internal void LimitRotation(float timestep)
{
d.Quaternion rot = d.BodyGetQuaternion(Body);
SafeNativeMethods.Quaternion rot = SafeNativeMethods.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
d.Quaternion m_rot = new d.Quaternion();
SafeNativeMethods.Quaternion m_rot = new SafeNativeMethods.Quaternion();
bool changed = false;
m_rot.X = rotq.X;
m_rot.Y = rotq.Y;
@@ -975,7 +975,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
changed = true;
}
if (changed)
d.BodySetQuaternion(Body, ref m_rot);
SafeNativeMethods.BodySetQuaternion(Body, ref m_rot);
}
}
}