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make old Ode PInvoke follow ms coding rules

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This commit is contained in:
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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374
OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
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@@ -212,7 +212,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
public IntPtr Body = IntPtr.Zero;
private Vector3 _target_velocity;
private d.Mass pMass;
private SafeNativeMethods.Mass pMass;
private int m_eventsubscription;
private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
@@ -356,13 +356,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_assetFailed)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
}
else
{
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
}
_parent_scene.geom_name_map[prim_geom] = Name;
@@ -386,7 +386,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
if (IsPhysical && Body != IntPtr.Zero)
{
d.BodyEnable(Body);
SafeNativeMethods.BodyEnable(Body);
if (m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Enable(Body, _parent_scene);
}
@@ -401,7 +401,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (IsPhysical && Body != IntPtr.Zero)
{
d.BodyDisable(Body);
SafeNativeMethods.BodyDisable(Body);
}
}
@@ -415,22 +415,22 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (!childPrim)
{
// Sets the geom to a body
Body = d.BodyCreate(_parent_scene.world);
Body = SafeNativeMethods.BodyCreate(_parent_scene.world);
setMass();
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
myrot.X = _orientation.X;
myrot.Y = _orientation.Y;
myrot.Z = _orientation.Z;
myrot.W = _orientation.W;
d.BodySetQuaternion(Body, ref myrot);
d.GeomSetBody(prim_geom, Body);
SafeNativeMethods.BodySetQuaternion(Body, ref myrot);
SafeNativeMethods.GeomSetBody(prim_geom, Body);
if (m_assetFailed)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
}
else
{
@@ -438,14 +438,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
}
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
SafeNativeMethods.BodySetAutoDisableFlag(Body, true);
SafeNativeMethods.BodySetAutoDisableSteps(Body, body_autodisable_frames);
// disconnect from world gravity so we can apply buoyancy
d.BodySetGravityMode (Body, false);
SafeNativeMethods.BodySetGravityMode (Body, false);
m_interpenetrationcount = 0;
m_collisionscore = 0;
@@ -787,8 +787,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
//m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString());
d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
d.BodySetMass(Body, ref pMass);
SafeNativeMethods.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
SafeNativeMethods.BodySetMass(Body, ref pMass);
}
}
@@ -796,7 +796,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
if (Body != (IntPtr)0)
{
d.BodySetAngularVel(Body, x, y, z);
SafeNativeMethods.BodySetAngularVel(Body, x, y, z);
}
}
@@ -818,16 +818,16 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_assetFailed)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, 0);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
SafeNativeMethods.GeomSetCollideBits(prim_geom, 0);
}
else
{
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
}
d.BodyDestroy(Body);
SafeNativeMethods.BodyDestroy(Body);
lock (childrenPrim)
{
if (childrenPrim.Count > 0)
@@ -851,14 +851,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_assetFailed)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, 0);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
SafeNativeMethods.GeomSetCollideBits(prim_geom, 0);
}
else
{
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
}
Body = IntPtr.Zero;
@@ -915,10 +915,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
else
{
_triMeshData = d.GeomTriMeshDataCreate();
_triMeshData = SafeNativeMethods.GeomTriMeshDataCreate();
d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
d.GeomTriMeshDataPreprocess(_triMeshData);
SafeNativeMethods.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
SafeNativeMethods.GeomTriMeshDataPreprocess(_triMeshData);
m_MeshToTriMeshMap[mesh] = _triMeshData;
}
}
@@ -926,7 +926,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
// _parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null));
SetGeom(SafeNativeMethods.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null));
}
catch (AccessViolationException)
{
@@ -1032,7 +1032,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
{
if (Amotor != IntPtr.Zero)
{
d.JointDestroy(Amotor);
SafeNativeMethods.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
}
@@ -1107,7 +1107,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
if (Body == IntPtr.Zero)
{
Body = d.BodyCreate(_parent_scene.world);
Body = SafeNativeMethods.BodyCreate(_parent_scene.world);
setMass();
}
@@ -1123,21 +1123,21 @@ Console.WriteLine("ZProcessTaints for " + Name);
foreach (OdePrim prm in childrenPrim)
{
d.Mass m2;
d.MassSetZero(out m2);
d.MassSetBoxTotal(out m2, prm.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
SafeNativeMethods.Mass m2;
SafeNativeMethods.MassSetZero(out m2);
SafeNativeMethods.MassSetBoxTotal(out m2, prm.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
d.Quaternion quat = new d.Quaternion();
SafeNativeMethods.Quaternion quat = new SafeNativeMethods.Quaternion();
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;
d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat);
d.MassRotate(ref m2, ref mat);
d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
d.MassAdd(ref pMass, ref m2);
SafeNativeMethods.Matrix3 mat = new SafeNativeMethods.Matrix3();
SafeNativeMethods.RfromQ(out mat, ref quat);
SafeNativeMethods.MassRotate(ref m2, ref mat);
SafeNativeMethods.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
SafeNativeMethods.MassAdd(ref pMass, ref m2);
}
foreach (OdePrim prm in childrenPrim)
@@ -1148,36 +1148,36 @@ Console.WriteLine("ZProcessTaints for " + Name);
//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name);
if (prm.m_assetFailed)
{
d.GeomSetCategoryBits(prm.prim_geom, 0);
d.GeomSetCollideBits(prm.prim_geom, (uint)prm.BadMeshAssetCollideBits);
SafeNativeMethods.GeomSetCategoryBits(prm.prim_geom, 0);
SafeNativeMethods.GeomSetCollideBits(prm.prim_geom, (uint)prm.BadMeshAssetCollideBits);
}
else
{
d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
SafeNativeMethods.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
SafeNativeMethods.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
}
d.Quaternion quat = new d.Quaternion();
SafeNativeMethods.Quaternion quat = new SafeNativeMethods.Quaternion();
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;
d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat);
SafeNativeMethods.Matrix3 mat = new SafeNativeMethods.Matrix3();
SafeNativeMethods.RfromQ(out mat, ref quat);
if (Body != IntPtr.Zero)
{
d.GeomSetBody(prm.prim_geom, Body);
SafeNativeMethods.GeomSetBody(prm.prim_geom, Body);
prm.childPrim = true;
d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
SafeNativeMethods.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
//d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z);
d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
SafeNativeMethods.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
//d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass);
SafeNativeMethods.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
SafeNativeMethods.BodySetMass(Body, ref pMass);
}
else
{
@@ -1197,37 +1197,37 @@ Console.WriteLine("ZProcessTaints for " + Name);
if (m_assetFailed)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
}
else
{
//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name);
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
//Console.WriteLine(" Post GeomSetCategoryBits 2");
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
}
d.Quaternion quat2 = new d.Quaternion();
SafeNativeMethods.Quaternion quat2 = new SafeNativeMethods.Quaternion();
quat2.W = _orientation.W;
quat2.X = _orientation.X;
quat2.Y = _orientation.Y;
quat2.Z = _orientation.Z;
d.Matrix3 mat2 = new d.Matrix3();
d.RfromQ(out mat2, ref quat2);
d.GeomSetBody(prim_geom, Body);
d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
SafeNativeMethods.Matrix3 mat2 = new SafeNativeMethods.Matrix3();
SafeNativeMethods.RfromQ(out mat2, ref quat2);
SafeNativeMethods.GeomSetBody(prim_geom, Body);
SafeNativeMethods.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
//d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z);
//d.GeomSetOffsetRotation(prim_geom, ref mat2);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass);
SafeNativeMethods.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
SafeNativeMethods.BodySetMass(Body, ref pMass);
d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
SafeNativeMethods.BodySetAutoDisableFlag(Body, true);
SafeNativeMethods.BodySetAutoDisableSteps(Body, body_autodisable_frames);
m_interpenetrationcount = 0;
m_collisionscore = 0;
@@ -1240,7 +1240,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
createAMotor(m_angularlock);
}
d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
SafeNativeMethods.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
if (m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Enable(Body, _parent_scene);
@@ -1370,13 +1370,13 @@ Console.WriteLine("ZProcessTaints for " + Name);
if (m_assetFailed)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, 0);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
SafeNativeMethods.GeomSetCollideBits(prim_geom, 0);
}
else
{
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
}
if (IsPhysical)
@@ -1400,21 +1400,21 @@ Console.WriteLine("ZProcessTaints for " + Name);
if (m_assetFailed)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
}
else
{
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
}
if (IsPhysical)
{
if (Body != IntPtr.Zero)
{
d.BodySetLinearVel(Body, 0f, 0f, 0f);
d.BodySetForce(Body, 0, 0, 0);
SafeNativeMethods.BodySetLinearVel(Body, 0f, 0f, 0f);
SafeNativeMethods.BodySetForce(Body, 0, 0, 0);
enableBodySoft();
}
}
@@ -1463,7 +1463,7 @@ Console.WriteLine("CreateGeom:");
try
{
//Console.WriteLine(" CreateGeom 1");
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
SetGeom(SafeNativeMethods.CreateSphere(m_targetSpace, _size.X / 2));
m_expectedCollisionContacts = 3;
}
catch (AccessViolationException)
@@ -1478,7 +1478,7 @@ Console.WriteLine("CreateGeom:");
try
{
//Console.WriteLine(" CreateGeom 2");
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
SetGeom(SafeNativeMethods.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
m_expectedCollisionContacts = 4;
}
catch (AccessViolationException)
@@ -1494,7 +1494,7 @@ Console.WriteLine("CreateGeom:");
try
{
//Console.WriteLine(" CreateGeom 3");
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
SetGeom(SafeNativeMethods.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
m_expectedCollisionContacts = 4;
}
catch (AccessViolationException)
@@ -1510,7 +1510,7 @@ Console.WriteLine("CreateGeom:");
try
{
//Console.WriteLine(" CreateGeom 4");
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
SetGeom(SafeNativeMethods.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
m_expectedCollisionContacts = 4;
}
catch (AccessViolationException)
@@ -1536,7 +1536,7 @@ Console.WriteLine("CreateGeom:");
{
_parent_scene.geom_name_map.Remove(prim_geom);
_parent_scene.actor_name_map.Remove(prim_geom);
d.GeomDestroy(prim_geom);
SafeNativeMethods.GeomDestroy(prim_geom);
m_expectedCollisionContacts = 0;
prim_geom = IntPtr.Zero;
}
@@ -1593,13 +1593,13 @@ Console.WriteLine("changeadd 1");
#endif
CreateGeom(m_targetSpace, mesh);
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
myrot.X = _orientation.X;
myrot.Y = _orientation.Y;
myrot.Z = _orientation.Z;
myrot.W = _orientation.W;
d.GeomSetQuaternion(prim_geom, ref myrot);
SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
if (IsPhysical && Body == IntPtr.Zero)
enableBody();
@@ -1627,14 +1627,14 @@ Console.WriteLine("changeadd 1");
{
if (m_linkJoint != IntPtr.Zero)
{
d.JointDestroy(m_linkJoint);
SafeNativeMethods.JointDestroy(m_linkJoint);
m_linkJoint = IntPtr.Zero;
}
}
if (Body != IntPtr.Zero)
{
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
if (_parent != null)
{
@@ -1643,12 +1643,12 @@ Console.WriteLine("changeadd 1");
{
// KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
Console.WriteLine(" JointCreateFixed");
m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
d.JointAttach(m_linkJoint, Body, odParent.Body);
d.JointSetFixed(m_linkJoint);
m_linkJoint = SafeNativeMethods.JointCreateFixed(_parent_scene.world, _linkJointGroup);
SafeNativeMethods.JointAttach(m_linkJoint, Body, odParent.Body);
SafeNativeMethods.JointSetFixed(m_linkJoint);
}
}
d.BodyEnable(Body);
SafeNativeMethods.BodyEnable(Body);
if (m_vehicle.Type != Vehicle.TYPE_NONE)
{
m_vehicle.Enable(Body, _parent_scene);
@@ -1674,10 +1674,10 @@ Console.WriteLine(" JointCreateFixed");
// _parent_scene.waitForSpaceUnlock(m_targetSpace);
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
// _parent_scene.waitForSpaceUnlock(m_targetSpace);
d.SpaceAdd(m_targetSpace, prim_geom);
SafeNativeMethods.SpaceAdd(m_targetSpace, prim_geom);
changeSelectedStatus();
@@ -1704,7 +1704,7 @@ Console.WriteLine(" JointCreateFixed");
else
{
//Console.WriteLine("Move " + Name);
if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
if (!SafeNativeMethods.BodyIsEnabled (Body)) SafeNativeMethods.BodyEnable (Body); // KF add 161009
float m_mass = CalculateMass();
@@ -1746,9 +1746,9 @@ Console.WriteLine(" JointCreateFixed");
//PidStatus = true;
// PhysicsVector vec = new PhysicsVector();
d.Vector3 vel = d.BodyGetLinearVel(Body);
SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
d.Vector3 pos = d.BodyGetPosition(Body);
SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
_target_velocity =
new Vector3(
(m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
@@ -1770,9 +1770,9 @@ Console.WriteLine(" JointCreateFixed");
//fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
//fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
//fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
d.BodySetLinearVel(Body, 0, 0, 0);
d.BodyAddForce(Body, 0, 0, fz);
SafeNativeMethods.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
SafeNativeMethods.BodySetLinearVel(Body, 0, 0, 0);
SafeNativeMethods.BodyAddForce(Body, 0, 0, fz);
return;
}
else
@@ -1813,8 +1813,8 @@ Console.WriteLine(" JointCreateFixed");
}
// Where are we, and where are we headed?
d.Vector3 pos = d.BodyGetPosition(Body);
d.Vector3 vel = d.BodyGetLinearVel(Body);
SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
// Non-Vehicles have a limited set of Hover options.
// determine what our target height really is based on HoverType
@@ -1856,9 +1856,9 @@ Console.WriteLine(" JointCreateFixed");
// Avatar to Avatar collisions
// Prim to avatar collisions
d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
d.BodyAddForce(Body, 0, 0, fz);
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
SafeNativeMethods.BodySetLinearVel(Body, vel.X, vel.Y, 0);
SafeNativeMethods.BodyAddForce(Body, 0, 0, fz);
return;
}
else
@@ -1884,13 +1884,13 @@ Console.WriteLine(" JointCreateFixed");
//m_taintdisable = true;
//base.RaiseOutOfBounds(Position);
//d.BodySetLinearVel(Body, fx, fy, 0f);
if (!d.BodyIsEnabled(Body))
if (!SafeNativeMethods.BodyIsEnabled(Body))
{
// A physical body at rest on a surface will auto-disable after a while,
// this appears to re-enable it incase the surface it is upon vanishes,
// and the body should fall again.
d.BodySetLinearVel(Body, 0f, 0f, 0f);
d.BodySetForce(Body, 0, 0, 0);
SafeNativeMethods.BodySetLinearVel(Body, 0f, 0f, 0f);
SafeNativeMethods.BodySetForce(Body, 0, 0, 0);
enableBodySoft();
}
@@ -1906,7 +1906,7 @@ Console.WriteLine(" JointCreateFixed");
fy = nmax;
if (fy < nmin)
fy = nmin;
d.BodyAddForce(Body, fx, fy, fz);
SafeNativeMethods.BodyAddForce(Body, fx, fy, fz);
//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
}
}
@@ -1922,7 +1922,7 @@ Console.WriteLine(" JointCreateFixed");
private void rotate()
{
d.Quaternion myrot = new d.Quaternion();
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
myrot.X = _orientation.X;
myrot.Y = _orientation.Y;
myrot.Z = _orientation.Z;
@@ -1930,7 +1930,7 @@ Console.WriteLine(" JointCreateFixed");
if (Body != IntPtr.Zero)
{
// KF: If this is a root prim do BodySet
d.BodySetQuaternion(Body, ref myrot);
SafeNativeMethods.BodySetQuaternion(Body, ref myrot);
if (IsPhysical)
{
// create or remove locks
@@ -1940,7 +1940,7 @@ Console.WriteLine(" JointCreateFixed");
else
{
// daughter prim, do Geom set
d.GeomSetQuaternion(prim_geom, ref myrot);
SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
}
resetCollisionAccounting();
@@ -1962,7 +1962,7 @@ Console.WriteLine(" JointCreateFixed");
m_disabled = true;
if (Body != IntPtr.Zero)
{
d.BodyDisable(Body);
SafeNativeMethods.BodyDisable(Body);
Body = IntPtr.Zero;
}
@@ -2051,10 +2051,10 @@ Console.WriteLine(" JointCreateFixed");
}
}
if (d.SpaceQuery(m_targetSpace, prim_geom))
if (SafeNativeMethods.SpaceQuery(m_targetSpace, prim_geom))
{
// _parent_scene.waitForSpaceUnlock(m_targetSpace);
d.SpaceRemove(m_targetSpace, prim_geom);
SafeNativeMethods.SpaceRemove(m_targetSpace, prim_geom);
}
RemoveGeom();
@@ -2084,13 +2084,13 @@ Console.WriteLine(" JointCreateFixed");
}
CreateGeom(m_targetSpace, mesh);
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
myrot.X = _orientation.X;
myrot.Y = _orientation.Y;
myrot.Z = _orientation.Z;
myrot.W = _orientation.W;
d.GeomSetQuaternion(prim_geom, ref myrot);
SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
if (IsPhysical && Body == IntPtr.Zero && !childPrim)
@@ -2098,7 +2098,7 @@ Console.WriteLine(" JointCreateFixed");
// Re creates body on size.
// EnableBody also does setMass()
enableBody();
d.BodyEnable(Body);
SafeNativeMethods.BodyEnable(Body);
}
changeSelectedStatus();
@@ -2133,10 +2133,10 @@ Console.WriteLine(" JointCreateFixed");
}
if (m_assetFailed)
d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
else
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
}
/// <summary>
/// Change prim in response to a shape taint.
@@ -2190,14 +2190,14 @@ Console.WriteLine(" JointCreateFixed");
}
CreateGeom(m_targetSpace, mesh);
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
//myrot.W = _orientation.w;
myrot.W = _orientation.W;
myrot.X = _orientation.X;
myrot.Y = _orientation.Y;
myrot.Z = _orientation.Z;
d.GeomSetQuaternion(prim_geom, ref myrot);
SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
if (IsPhysical && Body == IntPtr.Zero)
@@ -2207,7 +2207,7 @@ Console.WriteLine(" JointCreateFixed");
enableBody();
if (Body != IntPtr.Zero)
{
d.BodyEnable(Body);
SafeNativeMethods.BodyEnable(Body);
}
}
@@ -2264,8 +2264,8 @@ Console.WriteLine(" JointCreateFixed");
m_taintforce = false;
return;
}
d.BodyEnable(Body);
d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
SafeNativeMethods.BodyEnable(Body);
SafeNativeMethods.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
}
m_forcelist.Clear();
}
@@ -2286,7 +2286,7 @@ Console.WriteLine(" JointCreateFixed");
{
if (IsPhysical && Body != IntPtr.Zero)
{
d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
SafeNativeMethods.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
}
}
@@ -2310,8 +2310,8 @@ Console.WriteLine(" JointCreateFixed");
{
iforce = iforce + (m_angularforcelist[i] * 100);
}
d.BodyEnable(Body);
d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
SafeNativeMethods.BodyEnable(Body);
SafeNativeMethods.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
}
m_angularforcelist.Clear();
@@ -2339,7 +2339,7 @@ Console.WriteLine(" JointCreateFixed");
{
if (Body != IntPtr.Zero)
{
d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
SafeNativeMethods.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
}
}
@@ -2665,7 +2665,7 @@ Console.WriteLine(" JointCreateFixed");
}
*/
d.AllocateODEDataForThread(0U);
SafeNativeMethods.AllocateODEDataForThread(0U);
_position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
_position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
@@ -2680,8 +2680,8 @@ Console.WriteLine(" JointCreateFixed");
if (Body != IntPtr.Zero)
{
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
SafeNativeMethods.BodySetLinearVel(Body, 0, 0, 0); // stop it
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
}
if(m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
@@ -2728,11 +2728,11 @@ Console.WriteLine(" JointCreateFixed");
float m_minvelocity = 0;
if (Body != IntPtr.Zero) // FIXME -> or if it is a joint
{
d.Vector3 vec = d.BodyGetPosition(Body);
d.Quaternion ori = d.BodyGetQuaternion(Body);
d.Vector3 vel = d.BodyGetLinearVel(Body);
d.Vector3 rotvel = d.BodyGetAngularVel(Body);
d.Vector3 torque = d.BodyGetTorque(Body);
SafeNativeMethods.Vector3 vec = SafeNativeMethods.BodyGetPosition(Body);
SafeNativeMethods.Quaternion ori = SafeNativeMethods.BodyGetQuaternion(Body);
SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
SafeNativeMethods.Vector3 rotvel = SafeNativeMethods.BodyGetAngularVel(Body);
SafeNativeMethods.Vector3 torque = SafeNativeMethods.BodyGetTorque(Body);
_torque = new Vector3(torque.X, torque.Y, torque.Z);
Vector3 l_position = Vector3.Zero;
Quaternion l_orientation = Quaternion.Identity;
@@ -2812,11 +2812,11 @@ Console.WriteLine(" JointCreateFixed");
else
Util.Clamp(l_position.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
d.BodySetPosition(Body, l_position.X, l_position.Y, l_position.Z);
SafeNativeMethods.BodySetPosition(Body, l_position.X, l_position.Y, l_position.Z);
// stop it
d.BodySetAngularVel(Body, 0, 0, 0);
d.BodySetLinearVel(Body, 0, 0, 0);
SafeNativeMethods.BodySetAngularVel(Body, 0, 0, 0);
SafeNativeMethods.BodySetLinearVel(Body, 0, 0, 0);
disableBodySoft();
_position = l_position;
@@ -3009,7 +3009,7 @@ Console.WriteLine(" JointCreateFixed");
if (Amotor != IntPtr.Zero)
{
d.JointDestroy(Amotor);
SafeNativeMethods.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
@@ -3039,19 +3039,19 @@ Console.WriteLine(" JointCreateFixed");
if(axisnum == 0)
return;
// stop it
d.BodySetTorque(Body, 0, 0, 0);
d.BodySetAngularVel(Body, 0, 0, 0);
SafeNativeMethods.BodySetTorque(Body, 0, 0, 0);
SafeNativeMethods.BodySetAngularVel(Body, 0, 0, 0);
Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
d.JointAttach(Amotor, Body, IntPtr.Zero);
Amotor = SafeNativeMethods.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
SafeNativeMethods.JointAttach(Amotor, Body, IntPtr.Zero);
d.JointSetAMotorMode(Amotor, 0);
SafeNativeMethods.JointSetAMotorMode(Amotor, 0);
d.JointSetAMotorNumAxes(Amotor, axisnum);
SafeNativeMethods.JointSetAMotorNumAxes(Amotor, axisnum);
// get current orientation to lock
d.Quaternion dcur = d.BodyGetQuaternion(Body);
SafeNativeMethods.Quaternion dcur = SafeNativeMethods.BodyGetQuaternion(Body);
Quaternion curr; // crap convertion between identical things
curr.X = dcur.X;
curr.Y = dcur.Y;
@@ -3064,17 +3064,17 @@ Console.WriteLine(" JointCreateFixed");
if (axisX)
{
ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
d.JointSetAMotorAngle(Amotor, 0, 0);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, 0f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.CFM, 0f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
SafeNativeMethods.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
SafeNativeMethods.JointSetAMotorAngle(Amotor, 0, 0);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.LoStop, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.HiStop, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.Vel, 0);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.FudgeFactor, 0.0001f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.Bounce, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.CFM, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.FMax, 5e8f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.StopCFM, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.StopERP, 0.8f);
i++;
j = 256; // move to next axis set
}
@@ -3082,17 +3082,17 @@ Console.WriteLine(" JointCreateFixed");
if (axisY)
{
ax = (new Vector3(0, 1, 0)) * curr;
d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
d.JointSetAMotorAngle(Amotor, i, 0);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.CFM, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
SafeNativeMethods.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
SafeNativeMethods.JointSetAMotorAngle(Amotor, i, 0);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.LoStop, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.HiStop, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Vel, 0);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FudgeFactor, 0.0001f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Bounce, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.CFM, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FMax, 5e8f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopCFM, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopERP, 0.8f);
i++;
j += 256;
}
@@ -3100,17 +3100,17 @@ Console.WriteLine(" JointCreateFixed");
if (axisZ)
{
ax = (new Vector3(0, 0, 1)) * curr;
d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
d.JointSetAMotorAngle(Amotor, i, 0);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.CFM, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
SafeNativeMethods.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
SafeNativeMethods.JointSetAMotorAngle(Amotor, i, 0);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.LoStop, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.HiStop, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Vel, 0);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FudgeFactor, 0.0001f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Bounce, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.CFM, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FMax, 5e8f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopCFM, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopERP, 0.8f);
}
}