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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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281
OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
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@@ -336,9 +336,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
private bool m_filterCollisions = true;
private d.NearCallback nearCallback;
public d.TriCallback triCallback;
public d.TriArrayCallback triArrayCallback;
private SafeNativeMethods.NearCallback nearCallback;
/// <summary>
/// Avatars in the physics scene.
@@ -368,7 +366,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
/// <summary>
/// Keep record of contacts in the physics loop so that we can remove duplicates.
/// </summary>
private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
private readonly List<SafeNativeMethods.ContactGeom> _perloopContact = new List<SafeNativeMethods.ContactGeom>();
/// <summary>
/// A dictionary of actors that should receive collision events.
@@ -409,7 +407,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
private bool m_NINJA_physics_joints_enabled = false;
//private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
private d.ContactGeom[] contacts;
private SafeNativeMethods.ContactGeom[] contacts;
/// <summary>
/// Lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
@@ -437,12 +435,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
private d.Contact contact;
private d.Contact TerrainContact;
private d.Contact AvatarMovementprimContact;
private d.Contact AvatarMovementTerrainContact;
private d.Contact WaterContact;
private d.Contact[,] m_materialContacts;
private SafeNativeMethods.Contact contact;
private SafeNativeMethods.Contact TerrainContact;
private SafeNativeMethods.Contact AvatarMovementprimContact;
private SafeNativeMethods.Contact AvatarMovementTerrainContact;
private SafeNativeMethods.Contact WaterContact;
private SafeNativeMethods.Contact[,] m_materialContacts;
private int m_physicsiterations = 10;
private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
@@ -480,8 +478,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
private bool avplanted = false;
private bool av_av_collisions_off = false;
public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
internal SafeNativeMethods.Vector3 xyz = new SafeNativeMethods.Vector3(128.1640f, 128.3079f, 25.7600f);
internal SafeNativeMethods.Vector3 hpr = new SafeNativeMethods.Vector3(125.5000f, -17.0000f, 0.0000f);
private volatile int m_global_contactcount = 0;
@@ -544,12 +542,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
m_rayCastManager = new ODERayCastRequestManager(this);
// Create the world and the first space
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
world = SafeNativeMethods.WorldCreate();
space = SafeNativeMethods.HashSpaceCreate(IntPtr.Zero);
contactgroup = SafeNativeMethods.JointGroupCreate(0);
contactgroup = d.JointGroupCreate(0);
d.WorldSetAutoDisableFlag(world, false);
SafeNativeMethods.WorldSetAutoDisableFlag(world, false);
}
// Initialize from configs
@@ -651,7 +648,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
}
contacts = new d.ContactGeom[contactsPerCollision];
contacts = new SafeNativeMethods.ContactGeom[contactsPerCollision];
spacesPerMeterX = 1.0f / metersInSpace;
spacesPerMeterY = 1.0f / metersInSpace;
@@ -680,7 +677,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
// Centeral contact friction and bounce
// ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
// an avatar falls through in Z but not in X or Y when walking on a prim.
contact.surface.mode |= d.ContactFlags.SoftERP;
contact.surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
contact.surface.mu = nmAvatarObjectContactFriction;
contact.surface.bounce = nmAvatarObjectContactBounce;
contact.surface.soft_cfm = 0.010f;
@@ -689,12 +686,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
// Terrain contact friction and Bounce
// This is the *non* moving version. Use this when an avatar
// isn't moving to keep it in place better
TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
TerrainContact.surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
TerrainContact.surface.mu = nmTerrainContactFriction;
TerrainContact.surface.bounce = nmTerrainContactBounce;
TerrainContact.surface.soft_erp = nmTerrainContactERP;
WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
WaterContact.surface.mode |= (SafeNativeMethods.ContactFlags.SoftERP | SafeNativeMethods.ContactFlags.SoftCFM);
WaterContact.surface.mu = 0f; // No friction
WaterContact.surface.bounce = 0.0f; // No bounce
WaterContact.surface.soft_cfm = 0.010f;
@@ -709,7 +706,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
// Terrain contact friction bounce and various error correcting calculations
// Use this when an avatar is in contact with the terrain and moving.
AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
AvatarMovementTerrainContact.surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
@@ -731,38 +728,38 @@ namespace OpenSim.Region.PhysicsModule.ODE
Rubber = 6
*/
m_materialContacts = new d.Contact[7,2];
m_materialContacts = new SafeNativeMethods.Contact[7,2];
m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Stone, 0] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Stone, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Stone, 1] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Stone, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Metal, 0] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Metal, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Metal, 1] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Metal, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Glass, 0] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Glass, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f;
m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f;
m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f;
@@ -775,83 +772,83 @@ namespace OpenSim.Region.PhysicsModule.ODE
private float mAvatarObjectContactFriction = 75f;
private float mAvatarObjectContactBounce = 0.1f;
*/
m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Glass, 1] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Glass, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f;
m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f;
m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Wood, 0] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Wood, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Wood, 1] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Wood, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Flesh, 0] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Flesh, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Flesh, 1] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Flesh, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Plastic, 0] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Plastic, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Plastic, 1] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Plastic, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Rubber, 0] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Rubber, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Rubber, 1] = new SafeNativeMethods.Contact();
m_materialContacts[(int)Material.Rubber, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f;
d.HashSpaceSetLevels(space, HashspaceLow, HashspaceHigh);
SafeNativeMethods.HashSpaceSetLevels(space, HashspaceLow, HashspaceHigh);
// Set the gravity,, don't disable things automatically (we set it explicitly on some things)
d.WorldSetGravity(world, gravityx, gravityy, gravityz);
d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
SafeNativeMethods.WorldSetGravity(world, gravityx, gravityy, gravityz);
SafeNativeMethods.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
d.WorldSetLinearDamping(world, 256f);
d.WorldSetAngularDamping(world, 256f);
d.WorldSetAngularDampingThreshold(world, 256f);
d.WorldSetLinearDampingThreshold(world, 256f);
d.WorldSetMaxAngularSpeed(world, 256f);
SafeNativeMethods.WorldSetLinearDamping(world, 256f);
SafeNativeMethods.WorldSetAngularDamping(world, 256f);
SafeNativeMethods.WorldSetAngularDampingThreshold(world, 256f);
SafeNativeMethods.WorldSetLinearDampingThreshold(world, 256f);
SafeNativeMethods.WorldSetMaxAngularSpeed(world, 256f);
d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
SafeNativeMethods.WorldSetQuickStepNumIterations(world, m_physicsiterations);
//d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
for (int i = 0; i < staticPrimspace.GetLength(0); i++)
@@ -877,7 +874,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
/// <param name='contactsArray'></param>
/// <param name='contactGeomSize'></param>
private int CollideGeoms(
IntPtr geom1, IntPtr geom2, int maxContacts, d.ContactGeom[] contactsArray, int contactGeomSize)
IntPtr geom1, IntPtr geom2, int maxContacts, SafeNativeMethods.ContactGeom[] contactsArray, int contactGeomSize)
{
int count;
@@ -887,7 +884,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (CollectStats)
m_nativeCollisionStartTick = Util.EnvironmentTickCount();
count = d.Collide(geom1, geom2, maxContacts, contactsArray, contactGeomSize);
count = SafeNativeMethods.Collide(geom1, geom2, maxContacts, contactsArray, contactGeomSize);
}
// We do this outside the lock so that any waiting threads aren't held up, though the effect is probably
@@ -913,7 +910,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
m_nativeCollisionStartTick = Util.EnvironmentTickCount();
}
d.SpaceCollide2(space1, space2, data, nearCallback);
SafeNativeMethods.SpaceCollide2(space1, space2, data, nearCallback);
if (CollectStats && m_inCollisionTiming)
{
@@ -944,7 +941,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
// Test if we're colliding a geom with a space.
// If so we have to drill down into the space recursively
if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
if (SafeNativeMethods.GeomIsSpace(g1) || SafeNativeMethods.GeomIsSpace(g2))
{
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
return;
@@ -973,8 +970,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
return;
IntPtr b1 = d.GeomGetBody(g1);
IntPtr b2 = d.GeomGetBody(g2);
IntPtr b1 = SafeNativeMethods.GeomGetBody(g1);
IntPtr b2 = SafeNativeMethods.GeomGetBody(g2);
// d.GeomClassID id = d.GeomGetClass(g1);
@@ -1001,10 +998,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (g1 == g2)
return; // Can't collide with yourself
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && SafeNativeMethods.AreConnectedExcluding(b1, b2, SafeNativeMethods.JointType.Contact))
return;
count = CollideGeoms(g1, g2, contacts.Length, contacts, d.ContactGeom.unmanagedSizeOf);
count = CollideGeoms(g1, g2, contacts.Length, contacts, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
// All code after this is only relevant if we have any collisions
if (count <= 0)
@@ -1052,7 +1049,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
for (int i = 0; i < count; i++)
{
d.ContactGeom curContact = contacts[i];
SafeNativeMethods.ContactGeom curContact = contacts[i];
if (curContact.depth > maxDepthContact.PenetrationDepth)
{
@@ -1129,7 +1126,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
curContact.depth = 0.00000003f;
p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
curContact.pos =
new d.Vector3(curContact.pos.X + (p1.Size.X/2),
new SafeNativeMethods.Vector3(curContact.pos.X + (p1.Size.X/2),
curContact.pos.Y + (p1.Size.Y/2),
curContact.pos.Z + (p1.Size.Z/2));
character.SetPidStatus(true);
@@ -1146,7 +1143,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
curContact.depth = 0.00000003f;
p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
curContact.pos =
new d.Vector3(curContact.pos.X + (p1.Size.X/2),
new SafeNativeMethods.Vector3(curContact.pos.X + (p1.Size.X/2),
curContact.pos.Y + (p1.Size.Y/2),
curContact.pos.Z + (p1.Size.Z/2));
character.SetPidStatus(true);
@@ -1198,7 +1195,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
m_global_contactcount++;
}
}
@@ -1212,7 +1209,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref TerrainContact);
m_global_contactcount++;
}
}
@@ -1247,7 +1244,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
m_global_contactcount++;
}
}
@@ -1273,7 +1270,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
m_global_contactcount++;
}
}
@@ -1307,7 +1304,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref WaterContact);
m_global_contactcount++;
}
//m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth);
@@ -1324,7 +1321,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
m_global_contactcount++;
}
}
@@ -1335,7 +1332,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref contact);
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref contact);
m_global_contactcount++;
}
}
@@ -1356,7 +1353,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]);
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]);
m_global_contactcount++;
}
}
@@ -1364,7 +1361,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
{
d.JointAttach(joint, b1, b2);
SafeNativeMethods.JointAttach(joint, b1, b2);
m_global_contactcount++;
}
}
@@ -1384,7 +1381,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
}
private bool checkDupe(d.ContactGeom contactGeom, int atype)
private bool checkDupe(SafeNativeMethods.ContactGeom contactGeom, int atype)
{
if (!m_filterCollisions)
return false;
@@ -1393,7 +1390,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
ActorTypes at = (ActorTypes)atype;
foreach (d.ContactGeom contact in _perloopContact)
foreach (SafeNativeMethods.ContactGeom contact in _perloopContact)
{
//if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
//{
@@ -1580,7 +1577,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
List<OdePrim> removeprims = null;
foreach (OdePrim chr in _activeprims)
{
if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
if (chr.Body != IntPtr.Zero && SafeNativeMethods.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
{
try
{
@@ -1706,7 +1703,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
{
d.AllocateODEDataForThread(0);
SafeNativeMethods.AllocateODEDataForThread(0);
OdeCharacter newAv
= new OdeCharacter(
@@ -1729,7 +1726,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
lock (OdeLock)
{
d.AllocateODEDataForThread(0);
SafeNativeMethods.AllocateODEDataForThread(0);
((OdeCharacter) actor).Destroy();
}
@@ -1786,7 +1783,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
OdePrim newPrim;
lock (OdeLock)
{
d.AllocateODEDataForThread(0);
SafeNativeMethods.AllocateODEDataForThread(0);
newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical);
lock (_prims)
@@ -1950,7 +1947,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
DoJointDeactivated(joint);
if (joint.jointID != IntPtr.Zero)
{
d.JointDestroy(joint.jointID);
SafeNativeMethods.JointDestroy(joint.jointID);
joint.jointID = IntPtr.Zero;
//DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
}
@@ -2115,7 +2112,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
public override Vector3 GetJointAnchor(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 pos = new d.Vector3();
SafeNativeMethods.Vector3 pos = new SafeNativeMethods.Vector3();
if (!(joint is OdePhysicsJoint))
{
@@ -2127,10 +2124,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
switch (odeJoint.Type)
{
case PhysicsJointType.Ball:
d.JointGetBallAnchor(odeJoint.jointID, out pos);
SafeNativeMethods.JointGetBallAnchor(odeJoint.jointID, out pos);
break;
case PhysicsJointType.Hinge:
d.JointGetHingeAnchor(odeJoint.jointID, out pos);
SafeNativeMethods.JointGetHingeAnchor(odeJoint.jointID, out pos);
break;
}
}
@@ -2151,7 +2148,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
public override Vector3 GetJointAxis(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 axis = new d.Vector3();
SafeNativeMethods.Vector3 axis = new SafeNativeMethods.Vector3();
if (!(joint is OdePhysicsJoint))
{
@@ -2166,7 +2163,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
break;
case PhysicsJointType.Hinge:
d.JointGetHingeAxis(odeJoint.jointID, out axis);
SafeNativeMethods.JointGetHingeAxis(odeJoint.jointID, out axis);
break;
}
}
@@ -2299,12 +2296,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
//{
//int adfadf = 0;
//}
if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
if (SafeNativeMethods.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
{
if (d.GeomIsSpace(currentspace))
if (SafeNativeMethods.GeomIsSpace(currentspace))
{
// waitForSpaceUnlock(currentspace);
d.SpaceRemove(currentspace, geom);
SafeNativeMethods.SpaceRemove(currentspace, geom);
}
else
{
@@ -2314,13 +2311,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
else
{
IntPtr sGeomIsIn = d.GeomGetSpace(geom);
IntPtr sGeomIsIn = SafeNativeMethods.GeomGetSpace(geom);
if (sGeomIsIn != IntPtr.Zero)
{
if (d.GeomIsSpace(currentspace))
if (SafeNativeMethods.GeomIsSpace(currentspace))
{
// waitForSpaceUnlock(sGeomIsIn);
d.SpaceRemove(sGeomIsIn, geom);
SafeNativeMethods.SpaceRemove(sGeomIsIn, geom);
}
else
{
@@ -2331,13 +2328,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
//If there are no more geometries in the sub-space, we don't need it in the main space anymore
if (d.SpaceGetNumGeoms(currentspace) == 0)
if (SafeNativeMethods.SpaceGetNumGeoms(currentspace) == 0)
{
if (currentspace != IntPtr.Zero)
{
if (d.GeomIsSpace(currentspace))
if (SafeNativeMethods.GeomIsSpace(currentspace))
{
d.SpaceRemove(space, currentspace);
SafeNativeMethods.SpaceRemove(space, currentspace);
// free up memory used by the space.
resetSpaceArrayItemToZero(currentspace);
@@ -2355,12 +2352,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
// this is a physical object that got disabled. ;.;
if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
{
if (d.SpaceQuery(currentspace, geom))
if (SafeNativeMethods.SpaceQuery(currentspace, geom))
{
if (d.GeomIsSpace(currentspace))
if (SafeNativeMethods.GeomIsSpace(currentspace))
{
// waitForSpaceUnlock(currentspace);
d.SpaceRemove(currentspace, geom);
SafeNativeMethods.SpaceRemove(currentspace, geom);
}
else
{
@@ -2370,13 +2367,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
else
{
IntPtr sGeomIsIn = d.GeomGetSpace(geom);
IntPtr sGeomIsIn = SafeNativeMethods.GeomGetSpace(geom);
if (sGeomIsIn != IntPtr.Zero)
{
if (d.GeomIsSpace(sGeomIsIn))
if (SafeNativeMethods.GeomIsSpace(sGeomIsIn))
{
// waitForSpaceUnlock(sGeomIsIn);
d.SpaceRemove(sGeomIsIn, geom);
SafeNativeMethods.SpaceRemove(sGeomIsIn, geom);
}
else
{
@@ -2397,7 +2394,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (newspace == IntPtr.Zero)
{
newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
d.HashSpaceSetLevels(newspace, HashspaceLow, HashspaceHigh);
SafeNativeMethods.HashSpaceSetLevels(newspace, HashspaceLow, HashspaceHigh);
}
return newspace;
@@ -2412,11 +2409,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
internal IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
{
// creating a new space for prim and inserting it into main space.
staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = SafeNativeMethods.HashSpaceCreate(IntPtr.Zero);
SafeNativeMethods.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
// waitForSpaceUnlock(space);
d.SpaceSetSublevel(space, 1);
d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
SafeNativeMethods.SpaceSetSublevel(space, 1);
SafeNativeMethods.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
}
@@ -2636,7 +2633,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
m_log.InfoFormat("[Ode] start processing pending actor operations");
int tstart = Util.EnvironmentTickCount();
d.AllocateODEDataForThread(0);
SafeNativeMethods.AllocateODEDataForThread(0);
lock (_taintedPrims)
{
@@ -2719,7 +2716,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
lock (OdeLock)
{
d.AllocateODEDataForThread(~0U);
SafeNativeMethods.AllocateODEDataForThread(~0U);
while (step_time > HalfOdeStep)
{
@@ -2871,12 +2868,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
lock(SimulationLock)
d.WorldQuickStep(world, ODE_STEPSIZE);
SafeNativeMethods.WorldQuickStep(world, ODE_STEPSIZE);
if (CollectStats)
m_stats[ODENativeStepFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick);
d.JointGroupEmpty(contactgroup);
SafeNativeMethods.JointGroupEmpty(contactgroup);
}
catch (Exception e)
{
@@ -2924,7 +2921,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
foreach (OdePrim prim in _activeprims)
{
if (prim.IsPhysical && (d.BodyIsEnabled(prim.Body) || !prim._zeroFlag))
if (prim.IsPhysical && (SafeNativeMethods.BodyIsEnabled(prim.Body) || !prim._zeroFlag))
{
prim.UpdatePositionAndVelocity();
@@ -2954,7 +2951,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
fwriter.Close();
}
d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
SafeNativeMethods.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
}
latertickcount = Util.EnvironmentTickCountSubtract(tickCountFrameRun);
@@ -3069,11 +3066,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
IntPtr odeJoint;
//DoJointErrorMessage(joint, "ODE creating ball joint ");
odeJoint = d.JointCreateBall(world, IntPtr.Zero);
odeJoint = SafeNativeMethods.JointCreateBall(world, IntPtr.Zero);
//DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
SafeNativeMethods.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
//DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
d.JointSetBallAnchor(odeJoint,
SafeNativeMethods.JointSetBallAnchor(odeJoint,
joint.Position.X,
joint.Position.Y,
joint.Position.Z);
@@ -3097,11 +3094,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
IntPtr odeJoint;
//DoJointErrorMessage(joint, "ODE creating hinge joint ");
odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
odeJoint = SafeNativeMethods.JointCreateHinge(world, IntPtr.Zero);
//DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
SafeNativeMethods.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
//DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
d.JointSetHingeAnchor(odeJoint,
SafeNativeMethods.JointSetHingeAnchor(odeJoint,
joint.Position.X,
joint.Position.Y,
joint.Position.Z);
@@ -3137,7 +3134,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
//m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
//DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
d.JointSetHingeAxis(odeJoint,
SafeNativeMethods.JointSetHingeAxis(odeJoint,
jointAxis.X,
jointAxis.Y,
jointAxis.Z);
@@ -3299,7 +3296,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
lock (OdeLock)
{
d.AllocateODEDataForThread(~0U);
SafeNativeMethods.AllocateODEDataForThread(~0U);
IntPtr GroundGeom = IntPtr.Zero;
if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
@@ -3311,29 +3308,29 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
TerrainHeightFieldHeights.Remove(GroundGeom);
}
d.SpaceRemove(space, GroundGeom);
d.GeomDestroy(GroundGeom);
SafeNativeMethods.SpaceRemove(space, GroundGeom);
SafeNativeMethods.GeomDestroy(GroundGeom);
}
}
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
IntPtr HeightmapData = SafeNativeMethods.GeomHeightfieldDataCreate();
SafeNativeMethods.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
heightmapWidth, heightmapHeight,
(int)heightmapWidthSamples,
(int)heightmapHeightSamples,
scale, offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
SafeNativeMethods.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
GroundGeom = SafeNativeMethods.CreateHeightfield(space, HeightmapData, 1);
if (GroundGeom != IntPtr.Zero)
{
d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
SafeNativeMethods.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
SafeNativeMethods.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
}
geom_name_map[GroundGeom] = "Terrain";
d.Matrix3 R = new d.Matrix3();
SafeNativeMethods.Matrix3 R = new SafeNativeMethods.Matrix3();
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
@@ -3343,9 +3340,9 @@ namespace OpenSim.Region.PhysicsModule.ODE
float angle;
q1.GetAxisAngle(out v3, out angle);
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(GroundGeom, ref R);
d.GeomSetPosition(GroundGeom, pOffset.X + regionsizeX * 0.5f, pOffset.Y + regionsizeY * 0.5f, 0.0f);
SafeNativeMethods.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
SafeNativeMethods.GeomSetRotation(GroundGeom, ref R);
SafeNativeMethods.GeomSetPosition(GroundGeom, pOffset.X + regionsizeX * 0.5f, pOffset.Y + regionsizeY * 0.5f, 0.0f);
IntPtr testGround = IntPtr.Zero;
if (RegionTerrain.TryGetValue(pOffset, out testGround))
{
@@ -3384,7 +3381,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
_worldInitialized = false;
d.AllocateODEDataForThread(~0U);
SafeNativeMethods.AllocateODEDataForThread(~0U);
if (m_rayCastManager != null)
{
@@ -3412,13 +3409,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
TerrainHeightFieldHeights.Remove(GroundGeom);
d.GeomDestroy(GroundGeom);
SafeNativeMethods.GeomDestroy(GroundGeom);
}
}
try
{
d.WorldDestroy(world);
SafeNativeMethods.WorldDestroy(world);
world = IntPtr.Zero;
}
catch (AccessViolationException e)