aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/PhysicsModules/Ode
diff options
context:
space:
mode:
authorUbitUmarov2018-01-14 01:40:49 +0000
committerUbitUmarov2018-01-14 01:40:49 +0000
commit3d87e37d99b0db26847e079f5b1da3ac82412ddc (patch)
tree18919f5348ea877ab3befb7946fb58ef65403e39 /OpenSim/Region/PhysicsModules/Ode
parentmake ubOde PInvoke follow ms coding rules (diff)
downloadopensim-SC-3d87e37d99b0db26847e079f5b1da3ac82412ddc.zip
opensim-SC-3d87e37d99b0db26847e079f5b1da3ac82412ddc.tar.gz
opensim-SC-3d87e37d99b0db26847e079f5b1da3ac82412ddc.tar.bz2
opensim-SC-3d87e37d99b0db26847e079f5b1da3ac82412ddc.tar.xz
make old Ode PInvoke follow ms coding rules
Diffstat (limited to '')
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEApi.cs1186
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs128
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs52
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEModule.cs2
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs374
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs26
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/OdeScene.cs281
7 files changed, 1023 insertions, 1026 deletions
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs b/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs
index c851b12..cc3077e 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEApi.cs
@@ -55,18 +55,18 @@ namespace OpenSim.Region.PhysicsModule.ODE
55 using dReal = System.Single; 55 using dReal = System.Single;
56//#endif 56//#endif
57 57
58 public static class d 58 internal static class SafeNativeMethods
59 { 59 {
60 public static dReal Infinity = dReal.MaxValue; 60 internal static dReal Infinity = dReal.MaxValue;
61 public static int NTotalBodies = 0; 61 internal static int NTotalBodies = 0;
62 public static int NTotalGeoms = 0; 62 internal static int NTotalGeoms = 0;
63 63
64 public const uint CONTACTS_UNIMPORTANT = 0x80000000; 64 internal const uint CONTACTS_UNIMPORTANT = 0x80000000;
65 65
66 #region Flags and Enumerations 66 #region Flags and Enumerations
67 67
68 [Flags] 68 [Flags]
69 public enum AllocateODEDataFlags : uint 69 internal enum AllocateODEDataFlags : uint
70 { 70 {
71 BasicData = 0, 71 BasicData = 0,
72 CollisionData = 0x00000001, 72 CollisionData = 0x00000001,
@@ -74,13 +74,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
74 } 74 }
75 75
76 [Flags] 76 [Flags]
77 public enum IniteODEFlags : uint 77 internal enum IniteODEFlags : uint
78 { 78 {
79 dInitFlagManualThreadCleanup = 0x00000001 79 dInitFlagManualThreadCleanup = 0x00000001
80 } 80 }
81 81
82 [Flags] 82 [Flags]
83 public enum ContactFlags : int 83 internal enum ContactFlags : int
84 { 84 {
85 Mu2 = 0x001, 85 Mu2 = 0x001,
86 FDir1 = 0x002, 86 FDir1 = 0x002,
@@ -98,7 +98,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
98 Approx1 = 0x3000 98 Approx1 = 0x3000
99 } 99 }
100 100
101 public enum GeomClassID : int 101 internal enum GeomClassID : int
102 { 102 {
103 SphereClass, 103 SphereClass,
104 BoxClass, 104 BoxClass,
@@ -122,7 +122,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
122 MaxUserClasses = 5 122 MaxUserClasses = 5
123 } 123 }
124 124
125 public enum JointType : int 125 internal enum JointType : int
126 { 126 {
127 None, 127 None,
128 Ball, 128 Ball,
@@ -138,7 +138,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
138 Plane2D 138 Plane2D
139 } 139 }
140 140
141 public enum JointParam : int 141 internal enum JointParam : int
142 { 142 {
143 LoStop, 143 LoStop,
144 HiStop, 144 HiStop,
@@ -175,7 +175,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
175 SuspensionCFM3 175 SuspensionCFM3
176 } 176 }
177 177
178 public enum dSweepAndPruneAxis : int 178 internal enum dSweepAndPruneAxis : int
179 { 179 {
180 XYZ = ((0)|(1<<2)|(2<<4)), 180 XYZ = ((0)|(1<<2)|(2<<4)),
181 XZY = ((0)|(2<<2)|(1<<4)), 181 XZY = ((0)|(2<<2)|(1<<4)),
@@ -190,126 +190,126 @@ namespace OpenSim.Region.PhysicsModule.ODE
190 #region Callbacks 190 #region Callbacks
191 191
192 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 192 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
193 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb); 193 internal delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);
194 194
195 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 195 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
196 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip); 196 internal delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);
197 197
198 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 198 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
199 public delegate void GetAABBFn(IntPtr geom, out AABB aabb); 199 internal delegate void GetAABBFn(IntPtr geom, out AABB aabb);
200 200
201 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 201 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
202 public delegate ColliderFn GetColliderFnFn(int num); 202 internal delegate ColliderFn GetColliderFnFn(int num);
203 203
204 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 204 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
205 public delegate void GeomDtorFn(IntPtr o); 205 internal delegate void GeomDtorFn(IntPtr o);
206 206
207 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 207 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
208 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z); 208 internal delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
209 209
210 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 210 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
211 public delegate dReal OSTerrainGetHeight(IntPtr p_user_data, int x, int z); 211 internal delegate dReal OSTerrainGetHeight(IntPtr p_user_data, int x, int z);
212 212
213 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 213 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
214 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); 214 internal delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
215 215
216 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 216 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
217 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); 217 internal delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);
218 218
219 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 219 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
220 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); 220 internal delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);
221 221
222 [UnmanagedFunctionPointer(CallingConvention.Cdecl)] 222 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
223 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); 223 internal delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);
224 224
225 #endregion 225 #endregion
226 226
227 #region Structs 227 #region Structs
228 228
229 [StructLayout(LayoutKind.Sequential)] 229 [StructLayout(LayoutKind.Sequential)]
230 public struct AABB 230 internal struct AABB
231 { 231 {
232 public dReal MinX, MaxX; 232 internal dReal MinX, MaxX;
233 public dReal MinY, MaxY; 233 internal dReal MinY, MaxY;
234 public dReal MinZ, MaxZ; 234 internal dReal MinZ, MaxZ;
235 } 235 }
236 236
237 237
238 [StructLayout(LayoutKind.Sequential)] 238 [StructLayout(LayoutKind.Sequential)]
239 public struct Contact 239 internal struct Contact
240 { 240 {
241 public SurfaceParameters surface; 241 internal SurfaceParameters surface;
242 public ContactGeom geom; 242 internal ContactGeom geom;
243 public Vector3 fdir1; 243 internal Vector3 fdir1;
244 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact)); 244 internal static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact));
245 } 245 }
246 246
247 247
248 [StructLayout(LayoutKind.Sequential)] 248 [StructLayout(LayoutKind.Sequential)]
249 public struct ContactGeom 249 internal struct ContactGeom
250 { 250 {
251 251
252 public Vector3 pos; 252 internal Vector3 pos;
253 public Vector3 normal; 253 internal Vector3 normal;
254 public dReal depth; 254 internal dReal depth;
255 public IntPtr g1; 255 internal IntPtr g1;
256 public IntPtr g2; 256 internal IntPtr g2;
257 public int side1; 257 internal int side1;
258 public int side2; 258 internal int side2;
259 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom)); 259 internal static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
260 } 260 }
261 261
262 [StructLayout(LayoutKind.Sequential)] 262 [StructLayout(LayoutKind.Sequential)]
263 public struct GeomClass 263 internal struct GeomClass
264 { 264 {
265 public int bytes; 265 internal int bytes;
266 public GetColliderFnFn collider; 266 internal GetColliderFnFn collider;
267 public GetAABBFn aabb; 267 internal GetAABBFn aabb;
268 public AABBTestFn aabb_test; 268 internal AABBTestFn aabb_test;
269 public GeomDtorFn dtor; 269 internal GeomDtorFn dtor;
270 } 270 }
271 271
272 272
273 [StructLayout(LayoutKind.Sequential)] 273 [StructLayout(LayoutKind.Sequential)]
274 public struct JointFeedback 274 internal struct JointFeedback
275 { 275 {
276 public Vector3 f1; 276 internal Vector3 f1;
277 public Vector3 t1; 277 internal Vector3 t1;
278 public Vector3 f2; 278 internal Vector3 f2;
279 public Vector3 t2; 279 internal Vector3 t2;
280 } 280 }
281 281
282 282
283 [StructLayout(LayoutKind.Sequential)] 283 [StructLayout(LayoutKind.Sequential)]
284 public struct Mass 284 internal struct Mass
285 { 285 {
286 public dReal mass; 286 internal dReal mass;
287 public Vector4 c; 287 internal Vector4 c;
288 public Matrix3 I; 288 internal Matrix3 I;
289 } 289 }
290 290
291 291
292 [StructLayout(LayoutKind.Sequential)] 292 [StructLayout(LayoutKind.Sequential)]
293 public struct Matrix3 293 internal struct Matrix3
294 { 294 {
295 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) 295 internal Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)
296 { 296 {
297 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; 297 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f;
298 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; 298 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f;
299 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; 299 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f;
300 } 300 }
301 public dReal M00, M10, M20; 301 internal dReal M00, M10, M20;
302 private dReal _m30; 302 private dReal _m30;
303 public dReal M01, M11, M21; 303 internal dReal M01, M11, M21;
304 private dReal _m31; 304 private dReal _m31;
305 public dReal M02, M12, M22; 305 internal dReal M02, M12, M22;
306 private dReal _m32; 306 private dReal _m32;
307 } 307 }
308 308
309 [StructLayout(LayoutKind.Sequential)] 309 [StructLayout(LayoutKind.Sequential)]
310 public struct Matrix4 310 internal struct Matrix4
311 { 311 {
312 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, 312 internal Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,
313 dReal m01, dReal m11, dReal m21, dReal m31, 313 dReal m01, dReal m11, dReal m21, dReal m31,
314 dReal m02, dReal m12, dReal m22, dReal m32, 314 dReal m02, dReal m12, dReal m22, dReal m32,
315 dReal m03, dReal m13, dReal m23, dReal m33) 315 dReal m03, dReal m13, dReal m23, dReal m33)
@@ -319,312 +319,312 @@ namespace OpenSim.Region.PhysicsModule.ODE
319 M02 = m02; M12 = m12; M22 = m22; M32 = m32; 319 M02 = m02; M12 = m12; M22 = m22; M32 = m32;
320 M03 = m03; M13 = m13; M23 = m23; M33 = m33; 320 M03 = m03; M13 = m13; M23 = m23; M33 = m33;
321 } 321 }
322 public dReal M00, M10, M20, M30; 322 internal dReal M00, M10, M20, M30;
323 public dReal M01, M11, M21, M31; 323 internal dReal M01, M11, M21, M31;
324 public dReal M02, M12, M22, M32; 324 internal dReal M02, M12, M22, M32;
325 public dReal M03, M13, M23, M33; 325 internal dReal M03, M13, M23, M33;
326 } 326 }
327 327
328 [StructLayout(LayoutKind.Sequential)] 328 [StructLayout(LayoutKind.Sequential)]
329 public struct Quaternion 329 internal struct Quaternion
330 { 330 {
331 public dReal W, X, Y, Z; 331 internal dReal W, X, Y, Z;
332 } 332 }
333 333
334 334
335 [StructLayout(LayoutKind.Sequential)] 335 [StructLayout(LayoutKind.Sequential)]
336 public struct SurfaceParameters 336 internal struct SurfaceParameters
337 { 337 {
338 public ContactFlags mode; 338 internal ContactFlags mode;
339 public dReal mu; 339 internal dReal mu;
340 public dReal mu2; 340 internal dReal mu2;
341 public dReal bounce; 341 internal dReal bounce;
342 public dReal bounce_vel; 342 internal dReal bounce_vel;
343 public dReal soft_erp; 343 internal dReal soft_erp;
344 public dReal soft_cfm; 344 internal dReal soft_cfm;
345 public dReal motion1; 345 internal dReal motion1;
346 public dReal motion2; 346 internal dReal motion2;
347 public dReal motionN; 347 internal dReal motionN;
348 public dReal slip1; 348 internal dReal slip1;
349 public dReal slip2; 349 internal dReal slip2;
350 } 350 }
351 351
352 352
353 [StructLayout(LayoutKind.Sequential)] 353 [StructLayout(LayoutKind.Sequential)]
354 public struct Vector3 354 internal struct Vector3
355 { 355 {
356 public Vector3(dReal x, dReal y, dReal z) 356 internal Vector3(dReal x, dReal y, dReal z)
357 { 357 {
358 X = x; Y = y; Z = z; _w = 0.0f; 358 X = x; Y = y; Z = z; _w = 0.0f;
359 } 359 }
360 public dReal X, Y, Z; 360 internal dReal X, Y, Z;
361 private dReal _w; 361 private dReal _w;
362 } 362 }
363 363
364 364
365 [StructLayout(LayoutKind.Sequential)] 365 [StructLayout(LayoutKind.Sequential)]
366 public struct Vector4 366 internal struct Vector4
367 { 367 {
368 public Vector4(dReal x, dReal y, dReal z, dReal w) 368 internal Vector4(dReal x, dReal y, dReal z, dReal w)
369 { 369 {
370 X = x; Y = y; Z = z; W = w; 370 X = x; Y = y; Z = z; W = w;
371 } 371 }
372 public dReal X, Y, Z, W; 372 internal dReal X, Y, Z, W;
373 } 373 }
374 374
375 #endregion 375 #endregion
376 376
377 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity] 377 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity]
378 public static extern int AllocateODEDataForThread(uint ODEInitFlags); 378 internal static extern int AllocateODEDataForThread(uint ODEInitFlags);
379 379
380 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] 380 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
381 public static extern bool AreConnected(IntPtr b1, IntPtr b2); 381 internal static extern bool AreConnected(IntPtr b1, IntPtr b2);
382 382
383 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] 383 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
384 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); 384 internal static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);
385 385
386 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] 386 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
387 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); 387 internal static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);
388 388
389 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity] 389 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
390 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 390 internal static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
391 391
392 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity] 392 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
393 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 393 internal static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
394 394
395 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] 395 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
396 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); 396 internal static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);
397 397
398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity] 398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
399 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 399 internal static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
400 400
401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity] 401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
402 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); 402 internal static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
403 403
404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] 404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
405 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); 405 internal static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
406 406
407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] 407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
408 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); 408 internal static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
409 409
410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] 410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
411 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); 411 internal static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);
412 412
413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] 413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
414 public static extern void BodyCopyPosition(IntPtr body, out dReal X); 414 internal static extern void BodyCopyPosition(IntPtr body, out dReal X);
415 415
416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] 416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
417 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); 417 internal static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);
418 418
419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] 419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
420 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); 420 internal static extern void BodyCopyQuaternion(IntPtr body, out dReal X);
421 421
422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] 422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
423 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); 423 internal static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);
424 424
425 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] 425 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
426 public static extern void BodyCopyRotation(IntPtr body, out dReal M00); 426 internal static extern void BodyCopyRotation(IntPtr body, out dReal M00);
427 427
428 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] 428 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
429 public static extern IntPtr BodyiCreate(IntPtr world); 429 internal static extern IntPtr BodyiCreate(IntPtr world);
430 public static IntPtr BodyCreate(IntPtr world) 430 internal static IntPtr BodyCreate(IntPtr world)
431 { 431 {
432 NTotalBodies++; 432 NTotalBodies++;
433 return BodyiCreate(world); 433 return BodyiCreate(world);
434 } 434 }
435 435
436 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] 436 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
437 public static extern void BodyiDestroy(IntPtr body); 437 internal static extern void BodyiDestroy(IntPtr body);
438 public static void BodyDestroy(IntPtr body) 438 internal static void BodyDestroy(IntPtr body)
439 { 439 {
440 NTotalBodies--; 440 NTotalBodies--;
441 BodyiDestroy(body); 441 BodyiDestroy(body);
442 } 442 }
443 443
444 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] 444 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
445 public static extern void BodyDisable(IntPtr body); 445 internal static extern void BodyDisable(IntPtr body);
446 446
447 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] 447 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
448 public static extern void BodyEnable(IntPtr body); 448 internal static extern void BodyEnable(IntPtr body);
449 449
450 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 450 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
451 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); 451 internal static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);
452 452
453 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 453 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
454 public static extern bool BodyGetAutoDisableFlag(IntPtr body); 454 internal static extern bool BodyGetAutoDisableFlag(IntPtr body);
455 455
456 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] 456 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
457 public static extern void BodyGetAutoDisableDefaults(IntPtr body); 457 internal static extern void BodyGetAutoDisableDefaults(IntPtr body);
458 458
459 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 459 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
460 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); 460 internal static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);
461 461
462 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 462 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
463 public static extern int BodyGetAutoDisableSteps(IntPtr body); 463 internal static extern int BodyGetAutoDisableSteps(IntPtr body);
464 464
465 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 465 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
466 public static extern dReal BodyGetAutoDisableTime(IntPtr body); 466 internal static extern dReal BodyGetAutoDisableTime(IntPtr body);
467 467
468 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] 468 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
469 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); 469 internal extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
470 public static Vector3 BodyGetAngularVel(IntPtr body) 470 internal static Vector3 BodyGetAngularVel(IntPtr body)
471 { 471 {
472 unsafe { return *(BodyGetAngularVelUnsafe(body)); } 472 unsafe { return *(BodyGetAngularVelUnsafe(body)); }
473 } 473 }
474 474
475 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] 475 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
476 public static extern IntPtr BodyGetData(IntPtr body); 476 internal static extern IntPtr BodyGetData(IntPtr body);
477 477
478 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] 478 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
479 public static extern int BodyGetFiniteRotationMode(IntPtr body); 479 internal static extern int BodyGetFiniteRotationMode(IntPtr body);
480 480
481 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] 481 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
482 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); 482 internal static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);
483 483
484 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] 484 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
485 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); 485 internal extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
486 public static Vector3 BodyGetForce(IntPtr body) 486 internal static Vector3 BodyGetForce(IntPtr body)
487 { 487 {
488 unsafe { return *(BodyGetForceUnsafe(body)); } 488 unsafe { return *(BodyGetForceUnsafe(body)); }
489 } 489 }
490 490
491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] 491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
492 public static extern bool BodyGetGravityMode(IntPtr body); 492 internal static extern bool BodyGetGravityMode(IntPtr body);
493 493
494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity] 494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
495 public static extern int BodyGetGyroscopicMode(IntPtr body); 495 internal static extern int BodyGetGyroscopicMode(IntPtr body);
496 496
497 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] 497 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
498 public static extern IntPtr BodyGetJoint(IntPtr body, int index); 498 internal static extern IntPtr BodyGetJoint(IntPtr body, int index);
499 499
500 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] 500 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
501 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); 501 internal extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
502 public static Vector3 BodyGetLinearVel(IntPtr body) 502 internal static Vector3 BodyGetLinearVel(IntPtr body)
503 { 503 {
504 unsafe { return *(BodyGetLinearVelUnsafe(body)); } 504 unsafe { return *(BodyGetLinearVelUnsafe(body)); }
505 } 505 }
506 506
507 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] 507 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
508 public static extern void BodyGetMass(IntPtr body, out Mass mass); 508 internal static extern void BodyGetMass(IntPtr body, out Mass mass);
509 509
510 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] 510 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
511 public static extern int BodyGetNumJoints(IntPtr body); 511 internal static extern int BodyGetNumJoints(IntPtr body);
512 512
513 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity] 513 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
514 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 514 internal static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
515 515
516 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] 516 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
517 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); 517 internal extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
518 public static Vector3 BodyGetPosition(IntPtr body) 518 internal static Vector3 BodyGetPosition(IntPtr body)
519 { 519 {
520 unsafe { return *(BodyGetPositionUnsafe(body)); } 520 unsafe { return *(BodyGetPositionUnsafe(body)); }
521 } 521 }
522 522
523 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity] 523 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
524 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 524 internal static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
525 525
526 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] 526 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
527 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); 527 internal extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
528 public static Quaternion BodyGetQuaternion(IntPtr body) 528 internal static Quaternion BodyGetQuaternion(IntPtr body)
529 { 529 {
530 unsafe { return *(BodyGetQuaternionUnsafe(body)); } 530 unsafe { return *(BodyGetQuaternionUnsafe(body)); }
531 } 531 }
532 532
533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity] 533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
534 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 534 internal static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
535 535
536 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity] 536 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
537 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 537 internal static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
538 538
539 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] 539 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
540 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); 540 internal extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
541 public static Matrix3 BodyGetRotation(IntPtr body) 541 internal static Matrix3 BodyGetRotation(IntPtr body)
542 { 542 {
543 unsafe { return *(BodyGetRotationUnsafe(body)); } 543 unsafe { return *(BodyGetRotationUnsafe(body)); }
544 } 544 }
545 545
546 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] 546 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
547 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); 547 internal extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
548 public static Vector3 BodyGetTorque(IntPtr body) 548 internal static Vector3 BodyGetTorque(IntPtr body)
549 { 549 {
550 unsafe { return *(BodyGetTorqueUnsafe(body)); } 550 unsafe { return *(BodyGetTorqueUnsafe(body)); }
551 } 551 }
552 552
553 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity] 553 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity]
554 public static extern IntPtr BodyGetWorld(IntPtr body); 554 internal static extern IntPtr BodyGetWorld(IntPtr body);
555 555
556 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity] 556 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity]
557 public static extern IntPtr BodyGetFirstGeom(IntPtr body); 557 internal static extern IntPtr BodyGetFirstGeom(IntPtr body);
558 558
559 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity] 559 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity]
560 public static extern IntPtr dBodyGetNextGeom(IntPtr Geom); 560 internal static extern IntPtr dBodyGetNextGeom(IntPtr Geom);
561 561
562 562
563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] 563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
564 public static extern bool BodyIsEnabled(IntPtr body); 564 internal static extern bool BodyIsEnabled(IntPtr body);
565 565
566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] 566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
567 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); 567 internal static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
568 568
569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
570 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); 570 internal static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
571 571
572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] 572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
573 public static extern void BodySetAutoDisableDefaults(IntPtr body); 573 internal static extern void BodySetAutoDisableDefaults(IntPtr body);
574 574
575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
576 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); 576 internal static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
577 577
578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
579 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); 579 internal static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
580 580
581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
582 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); 582 internal static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
583 583
584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
585 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); 585 internal static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
586 586
587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] 587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
588 public static extern void BodySetData(IntPtr body, IntPtr data); 588 internal static extern void BodySetData(IntPtr body, IntPtr data);
589 589
590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] 590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
591 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); 591 internal static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
592 592
593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] 593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
594 public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z); 594 internal static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);
595 595
596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity] 596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
597 public static extern void BodySetLinearDamping(IntPtr body, dReal scale); 597 internal static extern void BodySetLinearDamping(IntPtr body, dReal scale);
598 598
599 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] 599 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
600 public static extern void BodySetAngularDamping(IntPtr body, dReal scale); 600 internal static extern void BodySetAngularDamping(IntPtr body, dReal scale);
601 601
602 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity] 602 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity]
603 public static extern dReal BodyGetLinearDamping(IntPtr body); 603 internal static extern dReal BodyGetLinearDamping(IntPtr body);
604 604
605 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity] 605 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity]
606 public static extern dReal BodyGetAngularDamping(IntPtr body); 606 internal static extern dReal BodyGetAngularDamping(IntPtr body);
607 607
608 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] 608 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
609 public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale); 609 internal static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale);
610 610
611 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] 611 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
612 public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold); 612 internal static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold);
613 613
614 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] 614 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
615 public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold); 615 internal static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold);
616 616
617 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] 617 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
618 public static extern dReal BodyGetLinearDampingThreshold(IntPtr body); 618 internal static extern dReal BodyGetLinearDampingThreshold(IntPtr body);
619 619
620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] 620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
621 public static extern dReal BodyGetAngularDampingThreshold(IntPtr body); 621 internal static extern dReal BodyGetAngularDampingThreshold(IntPtr body);
622 622
623 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] 623 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
624 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); 624 internal static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
625 625
626 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] 626 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
627 public static extern void BodySetGravityMode(IntPtr body, bool mode); 627 internal static extern void BodySetGravityMode(IntPtr body, bool mode);
628 628
629 /// <summary> 629 /// <summary>
630 /// Sets the Gyroscopic term status on the body specified. 630 /// Sets the Gyroscopic term status on the body specified.
@@ -632,112 +632,112 @@ namespace OpenSim.Region.PhysicsModule.ODE
632 /// <param name="body">Pointer to body</param> 632 /// <param name="body">Pointer to body</param>
633 /// <param name="enabled">NonZero enabled, Zero disabled</param> 633 /// <param name="enabled">NonZero enabled, Zero disabled</param>
634 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity] 634 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
635 public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled); 635 internal static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);
636 636
637 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] 637 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
638 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); 638 internal static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
639 639
640 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] 640 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
641 public static extern void BodySetMass(IntPtr body, ref Mass mass); 641 internal static extern void BodySetMass(IntPtr body, ref Mass mass);
642 642
643 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] 643 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
644 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); 644 internal static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
645 645
646 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] 646 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
647 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); 647 internal static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
648 648
649 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] 649 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
650 public static extern void BodySetQuaternion(IntPtr body, ref dReal w); 650 internal static extern void BodySetQuaternion(IntPtr body, ref dReal w);
651 651
652 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] 652 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
653 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); 653 internal static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
654 654
655 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] 655 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
656 public static extern void BodySetRotation(IntPtr body, ref dReal M00); 656 internal static extern void BodySetRotation(IntPtr body, ref dReal M00);
657 657
658 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] 658 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
659 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); 659 internal static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
660 660
661 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity] 661 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
662 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 662 internal static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
663 663
664 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity] 664 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
665 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); 665 internal static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
666 666
667 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] 667 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
668 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, 668 internal static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,
669 ref Vector3 side1, ref Vector3 p2, 669 ref Vector3 side1, ref Vector3 p2,
670 ref Matrix3 R2, ref Vector3 side2, 670 ref Matrix3 R2, ref Vector3 side2,
671 ref Vector3 normal, out dReal depth, out int return_code, 671 ref Vector3 normal, out dReal depth, out int return_code,
672 int maxc, out ContactGeom contact, int skip); 672 int maxc, out ContactGeom contact, int skip);
673 673
674 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] 674 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]
675 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, 675 internal static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,
676 ref Vector3 side1, ref Vector3 _p2, 676 ref Vector3 side1, ref Vector3 _p2,
677 ref Matrix3 R2, ref Vector3 side2); 677 ref Matrix3 R2, ref Vector3 side2);
678 678
679 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity] 679 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity]
680 public static extern void CleanupODEAllDataForThread(); 680 internal static extern void CleanupODEAllDataForThread();
681 681
682 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] 682 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]
683 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, 683 internal static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2,
684 ref Vector3 b1, ref Vector3 b2, 684 ref Vector3 b1, ref Vector3 b2,
685 ref Vector3 cp1, ref Vector3 cp2); 685 ref Vector3 cp1, ref Vector3 cp2);
686 686
687 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] 687 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
688 public static extern void CloseODE(); 688 internal static extern void CloseODE();
689 689
690 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] 690 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
691 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip); 691 internal static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
692 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] 692 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
693 public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip); 693 internal static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);
694 694
695 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] 695 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
696 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); 696 internal static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
697 697
698 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] 698 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
699 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz); 699 internal static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
700 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz) 700 internal static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
701 { 701 {
702 NTotalGeoms++; 702 NTotalGeoms++;
703 return CreateiBox(space, lx, ly, lz); 703 return CreateiBox(space, lx, ly, lz);
704 } 704 }
705 705
706 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] 706 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
707 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length); 707 internal static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
708 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length) 708 internal static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
709 { 709 {
710 NTotalGeoms++; 710 NTotalGeoms++;
711 return CreateiCapsule(space, radius, length); 711 return CreateiCapsule(space, radius, length);
712 } 712 }
713 713
714 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] 714 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
715 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); 715 internal static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
716 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons) 716 internal static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
717 { 717 {
718 NTotalGeoms++; 718 NTotalGeoms++;
719 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons); 719 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
720 } 720 }
721 721
722 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] 722 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
723 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length); 723 internal static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
724 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length) 724 internal static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
725 { 725 {
726 NTotalGeoms++; 726 NTotalGeoms++;
727 return CreateiCylinder(space, radius, length); 727 return CreateiCylinder(space, radius, length);
728 } 728 }
729 729
730 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] 730 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
731 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable); 731 internal static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
732 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable) 732 internal static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
733 { 733 {
734 NTotalGeoms++; 734 NTotalGeoms++;
735 return CreateiHeightfield(space, data, bPlaceable); 735 return CreateiHeightfield(space, data, bPlaceable);
736 } 736 }
737 737
738 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateOSTerrain"), SuppressUnmanagedCodeSecurity] 738 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateOSTerrain"), SuppressUnmanagedCodeSecurity]
739 public static extern IntPtr CreateiOSTerrain(IntPtr space, IntPtr data, int bPlaceable); 739 internal static extern IntPtr CreateiOSTerrain(IntPtr space, IntPtr data, int bPlaceable);
740 public static IntPtr CreateOSTerrain(IntPtr space, IntPtr data, int bPlaceable) 740 internal static IntPtr CreateOSTerrain(IntPtr space, IntPtr data, int bPlaceable)
741 { 741 {
742 NTotalGeoms++; 742 NTotalGeoms++;
743 return CreateiOSTerrain(space, data, bPlaceable); 743 return CreateiOSTerrain(space, data, bPlaceable);
@@ -748,127 +748,127 @@ namespace OpenSim.Region.PhysicsModule.ODE
748 748
749 749
750 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] 750 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
751 public static extern IntPtr CreateiGeom(int classnum); 751 internal static extern IntPtr CreateiGeom(int classnum);
752 public static IntPtr CreateGeom(int classnum) 752 internal static IntPtr CreateGeom(int classnum)
753 { 753 {
754 NTotalGeoms++; 754 NTotalGeoms++;
755 return CreateiGeom(classnum); 755 return CreateiGeom(classnum);
756 } 756 }
757 757
758 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] 758 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
759 public static extern int CreateGeomClass(ref GeomClass classptr); 759 internal static extern int CreateGeomClass(ref GeomClass classptr);
760 760
761 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] 761 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
762 public static extern IntPtr CreateGeomTransform(IntPtr space); 762 internal static extern IntPtr CreateGeomTransform(IntPtr space);
763 763
764 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] 764 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
765 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); 765 internal static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
766 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d) 766 internal static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
767 { 767 {
768 NTotalGeoms++; 768 NTotalGeoms++;
769 return CreateiPlane(space, a, b, c, d); 769 return CreateiPlane(space, a, b, c, d);
770 } 770 }
771 771
772 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] 772 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
773 public static extern IntPtr CreateiRay(IntPtr space, dReal length); 773 internal static extern IntPtr CreateiRay(IntPtr space, dReal length);
774 public static IntPtr CreateRay(IntPtr space, dReal length) 774 internal static IntPtr CreateRay(IntPtr space, dReal length)
775 { 775 {
776 NTotalGeoms++; 776 NTotalGeoms++;
777 return CreateiRay(space, length); 777 return CreateiRay(space, length);
778 } 778 }
779 779
780 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] 780 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
781 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius); 781 internal static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
782 public static IntPtr CreateSphere(IntPtr space, dReal radius) 782 internal static IntPtr CreateSphere(IntPtr space, dReal radius)
783 { 783 {
784 NTotalGeoms++; 784 NTotalGeoms++;
785 return CreateiSphere(space, radius); 785 return CreateiSphere(space, radius);
786 } 786 }
787 787
788 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] 788 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
789 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data, 789 internal static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data,
790 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); 790 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
791 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data, 791 internal static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
792 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback) 792 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
793 { 793 {
794 NTotalGeoms++; 794 NTotalGeoms++;
795 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback); 795 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
796 } 796 }
797 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] 797 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
798 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); 798 internal static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
799 799
800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] 800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
801 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); 801 internal static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);
802 802
803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] 803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
804 public static extern int FactorCholesky(ref dReal A00, int n); 804 internal static extern int FactorCholesky(ref dReal A00, int n);
805 805
806 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity] 806 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
807 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip); 807 internal static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);
808 808
809 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] 809 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
810 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); 810 internal static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);
811 811
812 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] 812 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
813 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); 813 internal static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);
814 814
815 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] 815 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
816 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); 816 internal static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);
817 817
818 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] 818 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
819 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); 819 internal static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);
820 820
821 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] 821 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
822 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); 822 internal static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);
823 823
824 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] 824 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
825 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); 825 internal static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
826 826
827 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] 827 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
828 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); 828 internal static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);
829 829
830 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] 830 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
831 public static extern void GeomClearOffset(IntPtr geom); 831 internal static extern void GeomClearOffset(IntPtr geom);
832 832
833 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] 833 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
834 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); 834 internal static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);
835 835
836 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] 836 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
837 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); 837 internal static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);
838 838
839 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] 839 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
840 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); 840 internal static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);
841 841
842 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] 842 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
843 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); 843 internal static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);
844 844
845 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] 845 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
846 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); 846 internal static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);
847 847
848 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] 848 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
849 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); 849 internal static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);
850 850
851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] 851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
852 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); 852 internal static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);
853 853
854 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] 854 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
855 public static extern void GeomCopyPosition(IntPtr geom, out dReal X); 855 internal static extern void GeomCopyPosition(IntPtr geom, out dReal X);
856 856
857 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] 857 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
858 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); 858 internal static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);
859 859
860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] 860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
861 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); 861 internal static extern void GeomCopyRotation(IntPtr geom, out dReal M00);
862 862
863 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] 863 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
864 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); 864 internal static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);
865 865
866 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] 866 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
867 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); 867 internal static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
868 868
869 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] 869 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
870 public static extern void GeomiDestroy(IntPtr geom); 870 internal static extern void GeomiDestroy(IntPtr geom);
871 public static void GeomDestroy(IntPtr geom) 871 internal static void GeomDestroy(IntPtr geom)
872 { 872 {
873 NTotalGeoms--; 873 NTotalGeoms--;
874 GeomiDestroy(geom); 874 GeomiDestroy(geom);
@@ -876,64 +876,64 @@ namespace OpenSim.Region.PhysicsModule.ODE
876 876
877 877
878 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] 878 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
879 public static extern void GeomDisable(IntPtr geom); 879 internal static extern void GeomDisable(IntPtr geom);
880 880
881 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] 881 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
882 public static extern void GeomEnable(IntPtr geom); 882 internal static extern void GeomEnable(IntPtr geom);
883 883
884 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] 884 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
885 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); 885 internal static extern void GeomGetAABB(IntPtr geom, out AABB aabb);
886 886
887 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] 887 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
888 public static extern void GeomGetAABB(IntPtr geom, out dReal minX); 888 internal static extern void GeomGetAABB(IntPtr geom, out dReal minX);
889 889
890 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] 890 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
891 public static extern IntPtr GeomGetBody(IntPtr geom); 891 internal static extern IntPtr GeomGetBody(IntPtr geom);
892 892
893 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] 893 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
894 public static extern uint GeomGetCategoryBits(IntPtr geom); 894 internal static extern uint GeomGetCategoryBits(IntPtr geom);
895 895
896 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] 896 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
897 public static extern IntPtr GeomGetClassData(IntPtr geom); 897 internal static extern IntPtr GeomGetClassData(IntPtr geom);
898 898
899 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] 899 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
900 public static extern uint GeomGetCollideBits(IntPtr geom); 900 internal static extern uint GeomGetCollideBits(IntPtr geom);
901 901
902 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] 902 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
903 public static extern GeomClassID GeomGetClass(IntPtr geom); 903 internal static extern GeomClassID GeomGetClass(IntPtr geom);
904 904
905 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] 905 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
906 public static extern IntPtr GeomGetData(IntPtr geom); 906 internal static extern IntPtr GeomGetData(IntPtr geom);
907 907
908 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] 908 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
909 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); 909 internal extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
910 public static Vector3 GeomGetOffsetPosition(IntPtr geom) 910 internal static Vector3 GeomGetOffsetPosition(IntPtr geom)
911 { 911 {
912 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } 912 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
913 } 913 }
914 914
915 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] 915 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
916 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); 916 internal extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
917 public static Matrix3 GeomGetOffsetRotation(IntPtr geom) 917 internal static Matrix3 GeomGetOffsetRotation(IntPtr geom)
918 { 918 {
919 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } 919 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
920 } 920 }
921 921
922 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] 922 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
923 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); 923 internal extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
924 public static Vector3 GeomGetPosition(IntPtr geom) 924 internal static Vector3 GeomGetPosition(IntPtr geom)
925 { 925 {
926 unsafe { return *(GeomGetPositionUnsafe(geom)); } 926 unsafe { return *(GeomGetPositionUnsafe(geom)); }
927 } 927 }
928 public static OMV.Vector3 GeomGetPositionOMV(IntPtr geom) 928 internal static OMV.Vector3 GeomGetPositionOMV(IntPtr geom)
929 { 929 {
930 Vector3 vtmp = GeomGetPosition(geom); 930 Vector3 vtmp = GeomGetPosition(geom);
931 return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z); 931 return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z);
932 } 932 }
933 933
934 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] 934 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
935 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); 935 internal static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
936 public static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom) 936 internal static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom)
937 { 937 {
938 Quaternion qtmp; 938 Quaternion qtmp;
939 GeomCopyQuaternion(geom, out qtmp); 939 GeomCopyQuaternion(geom, out qtmp);
@@ -941,393 +941,393 @@ namespace OpenSim.Region.PhysicsModule.ODE
941 } 941 }
942 942
943 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] 943 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
944 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); 944 internal static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
945 945
946 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] 946 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
947 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); 947 internal extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
948 public static Matrix3 GeomGetRotation(IntPtr geom) 948 internal static Matrix3 GeomGetRotation(IntPtr geom)
949 { 949 {
950 unsafe { return *(GeomGetRotationUnsafe(geom)); } 950 unsafe { return *(GeomGetRotationUnsafe(geom)); }
951 } 951 }
952 952
953 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] 953 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
954 public static extern IntPtr GeomGetSpace(IntPtr geom); 954 internal static extern IntPtr GeomGetSpace(IntPtr geom);
955 955
956 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] 956 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
957 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, 957 internal static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,
958 dReal width, dReal depth, int widthSamples, int depthSamples, 958 dReal width, dReal depth, int widthSamples, int depthSamples,
959 dReal scale, dReal offset, dReal thickness, int bWrap); 959 dReal scale, dReal offset, dReal thickness, int bWrap);
960 960
961 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] 961 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
962 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 962 internal static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
963 dReal width, dReal depth, int widthSamples, int depthSamples, 963 dReal width, dReal depth, int widthSamples, int depthSamples,
964 dReal scale, dReal offset, dReal thickness, int bWrap); 964 dReal scale, dReal offset, dReal thickness, int bWrap);
965 965
966 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] 966 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]
967 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, 967 internal static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,
968 dReal width, dReal depth, int widthSamples, int depthSamples, 968 dReal width, dReal depth, int widthSamples, int depthSamples,
969 dReal scale, dReal offset, dReal thickness, int bWrap); 969 dReal scale, dReal offset, dReal thickness, int bWrap);
970 970
971 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] 971 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
972 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData, 972 internal static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,
973 dReal width, dReal depth, int widthSamples, int depthSamples, 973 dReal width, dReal depth, int widthSamples, int depthSamples,
974 dReal scale, dReal offset, dReal thickness, int bWrap); 974 dReal scale, dReal offset, dReal thickness, int bWrap);
975 975
976 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] 976 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
977 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData, 977 internal static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,
978 dReal width, dReal depth, int widthSamples, int depthSamples, 978 dReal width, dReal depth, int widthSamples, int depthSamples,
979 dReal scale, dReal offset, dReal thickness, int bWrap); 979 dReal scale, dReal offset, dReal thickness, int bWrap);
980 980
981 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] 981 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
982 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 982 internal static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
983 dReal width, dReal depth, int widthSamples, int depthSamples, 983 dReal width, dReal depth, int widthSamples, int depthSamples,
984 dReal scale, dReal offset, dReal thickness, int bWrap); 984 dReal scale, dReal offset, dReal thickness, int bWrap);
985 985
986 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] 986 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
987 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData, 987 internal static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,
988 dReal width, dReal depth, int widthSamples, int depthSamples, 988 dReal width, dReal depth, int widthSamples, int depthSamples,
989 dReal scale, dReal offset, dReal thickness, int bWrap); 989 dReal scale, dReal offset, dReal thickness, int bWrap);
990 990
991 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] 991 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
992 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 992 internal static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
993 dReal width, dReal depth, int widthSamples, int depthSamples, 993 dReal width, dReal depth, int widthSamples, int depthSamples,
994 dReal scale, dReal offset, dReal thickness, int bWrap); 994 dReal scale, dReal offset, dReal thickness, int bWrap);
995 995
996 996
997 997
998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] 998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
999 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData, 999 internal static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
1000 dReal width, dReal depth, int widthSamples, int depthSamples, 1000 dReal width, dReal depth, int widthSamples, int depthSamples,
1001 dReal scale, dReal offset, dReal thickness, int bWrap); 1001 dReal scale, dReal offset, dReal thickness, int bWrap);
1002 1002
1003 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] 1003 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1004 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 1004 internal static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
1005 dReal width, dReal depth, int widthSamples, int depthSamples, 1005 dReal width, dReal depth, int widthSamples, int depthSamples,
1006 dReal scale, dReal offset, dReal thickness, int bWrap); 1006 dReal scale, dReal offset, dReal thickness, int bWrap);
1007 1007
1008 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] 1008 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
1009 public static extern IntPtr GeomHeightfieldDataCreate(); 1009 internal static extern IntPtr GeomHeightfieldDataCreate();
1010 1010
1011 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] 1011 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
1012 public static extern void GeomHeightfieldDataDestroy(IntPtr d); 1012 internal static extern void GeomHeightfieldDataDestroy(IntPtr d);
1013 1013
1014 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] 1014 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
1015 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); 1015 internal static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
1016 1016
1017 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] 1017 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1018 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); 1018 internal static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);
1019 1019
1020 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] 1020 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1021 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); 1021 internal static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
1022 1022
1023 1023
1024 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity] 1024 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
1025 public static extern void GeomOSTerrainDataBuild(IntPtr d, float[] pHeightData, int bCopyHeightData, 1025 internal static extern void GeomOSTerrainDataBuild(IntPtr d, float[] pHeightData, int bCopyHeightData,
1026 dReal sampleSize, int widthSamples, int depthSamples, 1026 dReal sampleSize, int widthSamples, int depthSamples,
1027 dReal offset, dReal thickness, int bWrap); 1027 dReal offset, dReal thickness, int bWrap);
1028 1028
1029 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainDataBuild"), SuppressUnmanagedCodeSecurity] 1029 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
1030 public static extern void GeomOSTerrainDataBuild(IntPtr d, IntPtr pHeightData, int bCopyHeightData, 1030 internal static extern void GeomOSTerrainDataBuild(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
1031 dReal sampleSize, int widthSamples, int depthSamples, 1031 dReal sampleSize, int widthSamples, int depthSamples,
1032 dReal thickness, int bWrap); 1032 dReal thickness, int bWrap);
1033 1033
1034 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainDataCreate"), SuppressUnmanagedCodeSecurity] 1034 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainDataCreate"), SuppressUnmanagedCodeSecurity]
1035 public static extern IntPtr GeomOSTerrainDataCreate(); 1035 internal static extern IntPtr GeomOSTerrainDataCreate();
1036 1036
1037 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainDataDestroy"), SuppressUnmanagedCodeSecurity] 1037 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainDataDestroy"), SuppressUnmanagedCodeSecurity]
1038 public static extern void GeomOSTerrainDataDestroy(IntPtr d); 1038 internal static extern void GeomOSTerrainDataDestroy(IntPtr d);
1039 1039
1040 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainDataSetBounds"), SuppressUnmanagedCodeSecurity] 1040 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainDataSetBounds"), SuppressUnmanagedCodeSecurity]
1041 public static extern void GeomOSTerrainDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); 1041 internal static extern void GeomOSTerrainDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
1042 1042
1043 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainGetHeightfieldData"), SuppressUnmanagedCodeSecurity] 1043 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1044 public static extern IntPtr GeomOSTerrainGetHeightfieldData(IntPtr g); 1044 internal static extern IntPtr GeomOSTerrainGetHeightfieldData(IntPtr g);
1045 1045
1046 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainSetHeightfieldData"), SuppressUnmanagedCodeSecurity] 1046 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomOSTerrainSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1047 public static extern void GeomOSTerrainSetHeightfieldData(IntPtr g, IntPtr d); 1047 internal static extern void GeomOSTerrainSetHeightfieldData(IntPtr g, IntPtr d);
1048 1048
1049 1049
1050 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] 1050 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
1051 public static extern bool GeomIsEnabled(IntPtr geom); 1051 internal static extern bool GeomIsEnabled(IntPtr geom);
1052 1052
1053 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] 1053 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
1054 public static extern bool GeomIsOffset(IntPtr geom); 1054 internal static extern bool GeomIsOffset(IntPtr geom);
1055 1055
1056 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] 1056 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
1057 public static extern bool GeomIsSpace(IntPtr geom); 1057 internal static extern bool GeomIsSpace(IntPtr geom);
1058 1058
1059 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] 1059 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1060 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); 1060 internal static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);
1061 1061
1062 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] 1062 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1063 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); 1063 internal static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);
1064 1064
1065 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] 1065 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
1066 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); 1066 internal static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1067 1067
1068 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity] 1068 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
1069 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d); 1069 internal static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);
1070 1070
1071 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] 1071 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1072 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); 1072 internal static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);
1073 1073
1074 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] 1074 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1075 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); 1075 internal static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);
1076 1076
1077 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] 1077 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
1078 public static extern int GeomRayGetClosestHit(IntPtr ray); 1078 internal static extern int GeomRayGetClosestHit(IntPtr ray);
1079 1079
1080 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] 1080 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
1081 public static extern dReal GeomRayGetLength(IntPtr ray); 1081 internal static extern dReal GeomRayGetLength(IntPtr ray);
1082 1082
1083 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] 1083 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
1084 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); 1084 internal static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);
1085 1085
1086 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity] 1086 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
1087 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); 1087 internal static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
1088 1088
1089 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] 1089 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
1090 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); 1090 internal static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);
1091 1091
1092 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] 1092 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
1093 public static extern void GeomRaySetLength(IntPtr ray, dReal length); 1093 internal static extern void GeomRaySetLength(IntPtr ray, dReal length);
1094 1094
1095 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] 1095 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
1096 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); 1096 internal static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);
1097 1097
1098 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] 1098 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
1099 public static extern void GeomSetBody(IntPtr geom, IntPtr body); 1099 internal static extern void GeomSetBody(IntPtr geom, IntPtr body);
1100 1100
1101 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] 1101 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
1102 public static extern void GeomSetCategoryBits(IntPtr geom, uint bits); 1102 internal static extern void GeomSetCategoryBits(IntPtr geom, uint bits);
1103 1103
1104 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] 1104 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
1105 public static extern void GeomSetCollideBits(IntPtr geom, uint bits); 1105 internal static extern void GeomSetCollideBits(IntPtr geom, uint bits);
1106 1106
1107 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] 1107 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
1108 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); 1108 internal static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
1109 1109
1110 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] 1110 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
1111 public static extern void GeomSetData(IntPtr geom, IntPtr data); 1111 internal static extern void GeomSetData(IntPtr geom, IntPtr data);
1112 1112
1113 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] 1113 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
1114 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); 1114 internal static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1115 1115
1116 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] 1116 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1117 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q); 1117 internal static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
1118 1118
1119 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] 1119 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1120 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X); 1120 internal static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
1121 1121
1122 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] 1122 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1123 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R); 1123 internal static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
1124 1124
1125 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] 1125 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1126 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00); 1126 internal static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
1127 1127
1128 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] 1128 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
1129 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); 1129 internal static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);
1130 1130
1131 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] 1131 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1132 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); 1132 internal static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);
1133 1133
1134 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] 1134 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1135 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); 1135 internal static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);
1136 1136
1137 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] 1137 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1138 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); 1138 internal static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);
1139 1139
1140 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] 1140 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1141 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); 1141 internal static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);
1142 1142
1143 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] 1143 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
1144 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); 1144 internal static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1145 1145
1146 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] 1146 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1147 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); 1147 internal static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);
1148 1148
1149 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] 1149 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1150 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); 1150 internal static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);
1151 1151
1152 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] 1152 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1153 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); 1153 internal static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);
1154 1154
1155 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] 1155 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1156 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); 1156 internal static extern void GeomSetRotation(IntPtr geom, ref dReal M00);
1157 1157
1158 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] 1158 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
1159 public static extern dReal GeomSphereGetRadius(IntPtr geom); 1159 internal static extern dReal GeomSphereGetRadius(IntPtr geom);
1160 1160
1161 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] 1161 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
1162 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); 1162 internal static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1163 1163
1164 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] 1164 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
1165 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); 1165 internal static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);
1166 1166
1167 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] 1167 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
1168 public static extern int GeomTransformGetCleanup(IntPtr geom); 1168 internal static extern int GeomTransformGetCleanup(IntPtr geom);
1169 1169
1170 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] 1170 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
1171 public static extern IntPtr GeomTransformGetGeom(IntPtr geom); 1171 internal static extern IntPtr GeomTransformGetGeom(IntPtr geom);
1172 1172
1173 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] 1173 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
1174 public static extern int GeomTransformGetInfo(IntPtr geom); 1174 internal static extern int GeomTransformGetInfo(IntPtr geom);
1175 1175
1176 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] 1176 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
1177 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); 1177 internal static extern void GeomTransformSetCleanup(IntPtr geom, int mode);
1178 1178
1179 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] 1179 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
1180 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); 1180 internal static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);
1181 1181
1182 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] 1182 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
1183 public static extern void GeomTransformSetInfo(IntPtr geom, int info); 1183 internal static extern void GeomTransformSetInfo(IntPtr geom, int info);
1184 1184
1185 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] 1185 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1186 public static extern void GeomTriMeshDataBuildDouble(IntPtr d, 1186 internal static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1187 double[] vertices, int vertexStride, int vertexCount, 1187 double[] vertices, int vertexStride, int vertexCount,
1188 int[] indices, int indexCount, int triStride); 1188 int[] indices, int indexCount, int triStride);
1189 1189
1190 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] 1190 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1191 public static extern void GeomTriMeshDataBuildDouble(IntPtr d, 1191 internal static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1192 IntPtr vertices, int vertexStride, int vertexCount, 1192 IntPtr vertices, int vertexStride, int vertexCount,
1193 IntPtr indices, int indexCount, int triStride); 1193 IntPtr indices, int indexCount, int triStride);
1194 1194
1195 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] 1195 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1196 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, 1196 internal static extern void GeomTriMeshDataBuildDouble1(IntPtr d,
1197 double[] vertices, int vertexStride, int vertexCount, 1197 double[] vertices, int vertexStride, int vertexCount,
1198 int[] indices, int indexCount, int triStride, 1198 int[] indices, int indexCount, int triStride,
1199 double[] normals); 1199 double[] normals);
1200 1200
1201 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] 1201 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1202 public static extern void GeomTriMeshDataBuildDouble(IntPtr d, 1202 internal static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1203 IntPtr vertices, int vertexStride, int vertexCount, 1203 IntPtr vertices, int vertexStride, int vertexCount,
1204 IntPtr indices, int indexCount, int triStride, 1204 IntPtr indices, int indexCount, int triStride,
1205 IntPtr normals); 1205 IntPtr normals);
1206 1206
1207 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] 1207 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1208 public static extern void GeomTriMeshDataBuildSingle(IntPtr d, 1208 internal static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1209 dReal[] vertices, int vertexStride, int vertexCount, 1209 dReal[] vertices, int vertexStride, int vertexCount,
1210 int[] indices, int indexCount, int triStride); 1210 int[] indices, int indexCount, int triStride);
1211 1211
1212 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] 1212 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1213 public static extern void GeomTriMeshDataBuildSingle(IntPtr d, 1213 internal static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1214 IntPtr vertices, int vertexStride, int vertexCount, 1214 IntPtr vertices, int vertexStride, int vertexCount,
1215 IntPtr indices, int indexCount, int triStride); 1215 IntPtr indices, int indexCount, int triStride);
1216 1216
1217 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] 1217 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1218 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, 1218 internal static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1219 dReal[] vertices, int vertexStride, int vertexCount, 1219 dReal[] vertices, int vertexStride, int vertexCount,
1220 int[] indices, int indexCount, int triStride, 1220 int[] indices, int indexCount, int triStride,
1221 dReal[] normals); 1221 dReal[] normals);
1222 1222
1223 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] 1223 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1224 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, 1224 internal static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1225 IntPtr vertices, int vertexStride, int vertexCount, 1225 IntPtr vertices, int vertexStride, int vertexCount,
1226 IntPtr indices, int indexCount, int triStride, 1226 IntPtr indices, int indexCount, int triStride,
1227 IntPtr normals); 1227 IntPtr normals);
1228 1228
1229 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] 1229 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1230 public static extern void GeomTriMeshDataBuildSimple(IntPtr d, 1230 internal static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1231 float[] vertices, int vertexStride, int vertexCount, 1231 float[] vertices, int vertexStride, int vertexCount,
1232 int[] indices, int indexCount, int triStride); 1232 int[] indices, int indexCount, int triStride);
1233 1233
1234 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] 1234 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1235 public static extern void GeomTriMeshDataBuildSimple(IntPtr d, 1235 internal static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1236 IntPtr vertices, int vertexStride, int vertexCount, 1236 IntPtr vertices, int vertexStride, int vertexCount,
1237 IntPtr indices, int indexCount, int triStride); 1237 IntPtr indices, int indexCount, int triStride);
1238 1238
1239 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] 1239 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1240 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, 1240 internal static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1241 float[] vertices, int vertexStride, int vertexCount, 1241 float[] vertices, int vertexStride, int vertexCount,
1242 int[] indices, int indexCount, int triStride, 1242 int[] indices, int indexCount, int triStride,
1243 float[] normals); 1243 float[] normals);
1244 1244
1245 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] 1245 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1246 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, 1246 internal static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1247 IntPtr vertices, int vertexStride, int vertexCount, 1247 IntPtr vertices, int vertexStride, int vertexCount,
1248 IntPtr indices, int indexCount, int triStride, 1248 IntPtr indices, int indexCount, int triStride,
1249 IntPtr normals); 1249 IntPtr normals);
1250 1250
1251 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] 1251 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
1252 public static extern void GeomTriMeshClearTCCache(IntPtr g); 1252 internal static extern void GeomTriMeshClearTCCache(IntPtr g);
1253 1253
1254 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] 1254 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
1255 public static extern IntPtr GeomTriMeshDataCreate(); 1255 internal static extern IntPtr GeomTriMeshDataCreate();
1256 1256
1257 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] 1257 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
1258 public static extern void GeomTriMeshDataDestroy(IntPtr d); 1258 internal static extern void GeomTriMeshDataDestroy(IntPtr d);
1259 1259
1260 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] 1260 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
1261 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); 1261 internal static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);
1262 1262
1263 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] 1263 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
1264 public static extern void GeomTriMeshDataPreprocess(IntPtr d); 1264 internal static extern void GeomTriMeshDataPreprocess(IntPtr d);
1265 1265
1266 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] 1266 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
1267 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); 1267 internal static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);
1268 1268
1269 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] 1269 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
1270 public static extern void GeomTriMeshDataUpdate(IntPtr d); 1270 internal static extern void GeomTriMeshDataUpdate(IntPtr d);
1271 1271
1272 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] 1272 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
1273 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); 1273 internal static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);
1274 1274
1275 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] 1275 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
1276 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); 1276 internal static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);
1277 1277
1278 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity] 1278 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
1279 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g); 1279 internal static extern TriCallback GeomTriMeshGetCallback(IntPtr g);
1280 1280
1281 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity] 1281 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
1282 public static extern IntPtr GeomTriMeshGetData(IntPtr g); 1282 internal static extern IntPtr GeomTriMeshGetData(IntPtr g);
1283 1283
1284 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity] 1284 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
1285 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom); 1285 internal extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
1286 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom) 1286 internal static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
1287 { 1287 {
1288 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); } 1288 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
1289 } 1289 }
1290 1290
1291 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity] 1291 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
1292 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec); 1292 internal extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);
1293 1293
1294 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] 1294 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
1295 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); 1295 internal static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);
1296 1296
1297 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity] 1297 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
1298 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2); 1298 internal extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);
1299 1299
1300 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] 1300 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
1301 public extern static int GeomTriMeshGetTriangleCount(IntPtr g); 1301 internal extern static int GeomTriMeshGetTriangleCount(IntPtr g);
1302 1302
1303 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] 1303 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
1304 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); 1304 internal static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);
1305 1305
1306 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] 1306 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
1307 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); 1307 internal static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);
1308 1308
1309 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] 1309 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
1310 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); 1310 internal static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);
1311 1311
1312 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] 1312 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
1313 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); 1313 internal static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);
1314 1314
1315 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] 1315 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
1316 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); 1316 internal static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);
1317 1317
1318 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] 1318 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1319 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); 1319 internal static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);
1320 1320
1321 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] 1321 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1322 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); 1322 internal static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);
1323 1323
1324 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] 1324 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
1325 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); 1325 internal static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
1326 1326
1327 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity] 1327 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
1328 public static extern IntPtr iGetConfiguration(); 1328 internal static extern IntPtr iGetConfiguration();
1329 1329
1330 public static string GetConfiguration() 1330 internal static string GetConfiguration()
1331 { 1331 {
1332 IntPtr ptr = iGetConfiguration(); 1332 IntPtr ptr = iGetConfiguration();
1333 string s = Marshal.PtrToStringAnsi(ptr); 1333 string s = Marshal.PtrToStringAnsi(ptr);
@@ -1335,691 +1335,691 @@ namespace OpenSim.Region.PhysicsModule.ODE
1335 } 1335 }
1336 1336
1337 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] 1337 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
1338 public static extern IntPtr HashSpaceCreate(IntPtr space); 1338 internal static extern IntPtr HashSpaceCreate(IntPtr space);
1339 1339
1340 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] 1340 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
1341 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); 1341 internal static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);
1342 1342
1343 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] 1343 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
1344 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); 1344 internal static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);
1345 1345
1346 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] 1346 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
1347 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); 1347 internal static extern void InfiniteAABB(IntPtr geom, out AABB aabb);
1348 1348
1349 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] 1349 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
1350 public static extern void InitODE(); 1350 internal static extern void InitODE();
1351 1351
1352 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity] 1352 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity]
1353 public static extern int InitODE2(uint ODEInitFlags); 1353 internal static extern int InitODE2(uint ODEInitFlags);
1354 1354
1355 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] 1355 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
1356 public static extern int IsPositiveDefinite(ref dReal A, int n); 1356 internal static extern int IsPositiveDefinite(ref dReal A, int n);
1357 1357
1358 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] 1358 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
1359 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); 1359 internal static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);
1360 1360
1361 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] 1361 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
1362 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); 1362 internal static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);
1363 1363
1364 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] 1364 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
1365 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); 1365 internal static extern void JointAddHingeTorque(IntPtr joint, dReal torque);
1366 1366
1367 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] 1367 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
1368 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); 1368 internal static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);
1369 1369
1370 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] 1370 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
1371 public static extern void JointAddPRTorque(IntPtr joint, dReal torque); 1371 internal static extern void JointAddPRTorque(IntPtr joint, dReal torque);
1372 1372
1373 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] 1373 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
1374 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); 1374 internal static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);
1375 1375
1376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] 1376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
1377 public static extern void JointAddSliderForce(IntPtr joint, dReal force); 1377 internal static extern void JointAddSliderForce(IntPtr joint, dReal force);
1378 1378
1379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] 1379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
1380 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); 1380 internal static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);
1381 1381
1382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] 1382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
1383 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); 1383 internal static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);
1384 1384
1385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] 1385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
1386 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); 1386 internal static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);
1387 1387
1388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] 1388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1389 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); 1389 internal static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
1390 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] 1390 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1391 public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact); 1391 internal static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact);
1392 1392
1393 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] 1393 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
1394 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); 1394 internal static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);
1395 1395
1396 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] 1396 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
1397 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); 1397 internal static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);
1398 1398
1399 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] 1399 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
1400 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); 1400 internal static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);
1401 1401
1402 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] 1402 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
1403 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); 1403 internal static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);
1404 1404
1405 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] 1405 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
1406 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); 1406 internal static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);
1407 1407
1408 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] 1408 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
1409 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); 1409 internal static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);
1410 1410
1411 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] 1411 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
1412 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); 1412 internal static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);
1413 1413
1414 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] 1414 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
1415 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); 1415 internal static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);
1416 1416
1417 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] 1417 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
1418 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); 1418 internal static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);
1419 1419
1420 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] 1420 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
1421 public static extern void JointDestroy(IntPtr j); 1421 internal static extern void JointDestroy(IntPtr j);
1422 1422
1423 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] 1423 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1424 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); 1424 internal static extern dReal JointGetAMotorAngle(IntPtr j, int anum);
1425 1425
1426 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] 1426 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
1427 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); 1427 internal static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);
1428 1428
1429 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] 1429 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1430 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); 1430 internal static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);
1431 1431
1432 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] 1432 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
1433 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); 1433 internal static extern int JointGetAMotorAxisRel(IntPtr j, int anum);
1434 1434
1435 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] 1435 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
1436 public static extern int JointGetAMotorMode(IntPtr j); 1436 internal static extern int JointGetAMotorMode(IntPtr j);
1437 1437
1438 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1438 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1439 public static extern int JointGetAMotorNumAxes(IntPtr j); 1439 internal static extern int JointGetAMotorNumAxes(IntPtr j);
1440 1440
1441 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] 1441 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
1442 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); 1442 internal static extern dReal JointGetAMotorParam(IntPtr j, int parameter);
1443 1443
1444 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] 1444 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
1445 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); 1445 internal static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);
1446 1446
1447 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] 1447 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1448 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); 1448 internal static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);
1449 1449
1450 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] 1450 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
1451 public static extern IntPtr JointGetBody(IntPtr j); 1451 internal static extern IntPtr JointGetBody(IntPtr j);
1452 1452
1453 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] 1453 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
1454 public static extern IntPtr JointGetData(IntPtr j); 1454 internal static extern IntPtr JointGetData(IntPtr j);
1455 1455
1456 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] 1456 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
1457 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); 1457 internal extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
1458 public static JointFeedback JointGetFeedback(IntPtr j) 1458 internal static JointFeedback JointGetFeedback(IntPtr j)
1459 { 1459 {
1460 unsafe { return *(JointGetFeedbackUnsafe(j)); } 1460 unsafe { return *(JointGetFeedbackUnsafe(j)); }
1461 } 1461 }
1462 1462
1463 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] 1463 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1464 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); 1464 internal static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);
1465 1465
1466 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] 1466 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
1467 public static extern dReal JointGetHingeAngle(IntPtr j); 1467 internal static extern dReal JointGetHingeAngle(IntPtr j);
1468 1468
1469 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] 1469 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
1470 public static extern dReal JointGetHingeAngleRate(IntPtr j); 1470 internal static extern dReal JointGetHingeAngleRate(IntPtr j);
1471 1471
1472 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] 1472 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
1473 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); 1473 internal static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);
1474 1474
1475 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] 1475 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
1476 public static extern dReal JointGetHingeParam(IntPtr j, int parameter); 1476 internal static extern dReal JointGetHingeParam(IntPtr j, int parameter);
1477 1477
1478 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] 1478 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
1479 public static extern dReal JointGetHinge2Angle1(IntPtr j); 1479 internal static extern dReal JointGetHinge2Angle1(IntPtr j);
1480 1480
1481 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] 1481 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
1482 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); 1482 internal static extern dReal JointGetHinge2Angle1Rate(IntPtr j);
1483 1483
1484 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] 1484 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
1485 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); 1485 internal static extern dReal JointGetHinge2Angle2Rate(IntPtr j);
1486 1486
1487 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] 1487 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
1488 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); 1488 internal static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);
1489 1489
1490 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] 1490 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1491 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); 1491 internal static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);
1492 1492
1493 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] 1493 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
1494 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); 1494 internal static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);
1495 1495
1496 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] 1496 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1497 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); 1497 internal static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);
1498 1498
1499 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] 1499 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1500 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); 1500 internal static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);
1501 1501
1502 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] 1502 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
1503 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); 1503 internal static extern dReal JointGetHinge2Param(IntPtr j, int parameter);
1504 1504
1505 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] 1505 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1506 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); 1506 internal static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);
1507 1507
1508 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1508 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1509 public static extern int JointGetLMotorNumAxes(IntPtr j); 1509 internal static extern int JointGetLMotorNumAxes(IntPtr j);
1510 1510
1511 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] 1511 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
1512 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); 1512 internal static extern dReal JointGetLMotorParam(IntPtr j, int parameter);
1513 1513
1514 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] 1514 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
1515 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); 1515 internal static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);
1516 1516
1517 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] 1517 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
1518 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); 1518 internal static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);
1519 1519
1520 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] 1520 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
1521 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); 1521 internal static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);
1522 1522
1523 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] 1523 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
1524 public static extern dReal JointGetPRParam(IntPtr j, int parameter); 1524 internal static extern dReal JointGetPRParam(IntPtr j, int parameter);
1525 1525
1526 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] 1526 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
1527 public static extern dReal JointGetPRPosition(IntPtr j); 1527 internal static extern dReal JointGetPRPosition(IntPtr j);
1528 1528
1529 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] 1529 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
1530 public static extern dReal JointGetPRPositionRate(IntPtr j); 1530 internal static extern dReal JointGetPRPositionRate(IntPtr j);
1531 1531
1532 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] 1532 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
1533 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); 1533 internal static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);
1534 1534
1535 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] 1535 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
1536 public static extern dReal JointGetSliderParam(IntPtr j, int parameter); 1536 internal static extern dReal JointGetSliderParam(IntPtr j, int parameter);
1537 1537
1538 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] 1538 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
1539 public static extern dReal JointGetSliderPosition(IntPtr j); 1539 internal static extern dReal JointGetSliderPosition(IntPtr j);
1540 1540
1541 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] 1541 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
1542 public static extern dReal JointGetSliderPositionRate(IntPtr j); 1542 internal static extern dReal JointGetSliderPositionRate(IntPtr j);
1543 1543
1544 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] 1544 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
1545 public static extern JointType JointGetType(IntPtr j); 1545 internal static extern JointType JointGetType(IntPtr j);
1546 1546
1547 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] 1547 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1548 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); 1548 internal static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);
1549 1549
1550 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] 1550 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
1551 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); 1551 internal static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);
1552 1552
1553 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] 1553 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
1554 public static extern dReal JointGetUniversalAngle1(IntPtr j); 1554 internal static extern dReal JointGetUniversalAngle1(IntPtr j);
1555 1555
1556 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] 1556 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
1557 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); 1557 internal static extern dReal JointGetUniversalAngle1Rate(IntPtr j);
1558 1558
1559 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] 1559 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
1560 public static extern dReal JointGetUniversalAngle2(IntPtr j); 1560 internal static extern dReal JointGetUniversalAngle2(IntPtr j);
1561 1561
1562 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] 1562 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
1563 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); 1563 internal static extern dReal JointGetUniversalAngle2Rate(IntPtr j);
1564 1564
1565 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] 1565 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
1566 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); 1566 internal static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);
1567 1567
1568 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] 1568 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1569 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); 1569 internal static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);
1570 1570
1571 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] 1571 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1572 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); 1572 internal static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);
1573 1573
1574 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] 1574 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
1575 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); 1575 internal static extern dReal JointGetUniversalParam(IntPtr j, int parameter);
1576 1576
1577 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] 1577 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
1578 public static extern IntPtr JointGroupCreate(int max_size); 1578 internal static extern IntPtr JointGroupCreate(int max_size);
1579 1579
1580 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] 1580 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
1581 public static extern void JointGroupDestroy(IntPtr group); 1581 internal static extern void JointGroupDestroy(IntPtr group);
1582 1582
1583 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] 1583 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
1584 public static extern void JointGroupEmpty(IntPtr group); 1584 internal static extern void JointGroupEmpty(IntPtr group);
1585 1585
1586 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] 1586 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1587 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); 1587 internal static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);
1588 1588
1589 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity] 1589 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1590 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); 1590 internal static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1591 1591
1592 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] 1592 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
1593 public static extern void JointSetAMotorMode(IntPtr j, int mode); 1593 internal static extern void JointSetAMotorMode(IntPtr j, int mode);
1594 1594
1595 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1595 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1596 public static extern void JointSetAMotorNumAxes(IntPtr group, int num); 1596 internal static extern void JointSetAMotorNumAxes(IntPtr group, int num);
1597 1597
1598 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] 1598 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
1599 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); 1599 internal static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);
1600 1600
1601 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] 1601 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
1602 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); 1602 internal static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);
1603 1603
1604 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] 1604 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1605 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); 1605 internal static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);
1606 1606
1607 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] 1607 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
1608 public static extern void JointSetData(IntPtr j, IntPtr data); 1608 internal static extern void JointSetData(IntPtr j, IntPtr data);
1609 1609
1610 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] 1610 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
1611 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); 1611 internal static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);
1612 1612
1613 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] 1613 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
1614 public static extern void JointSetFixed(IntPtr j); 1614 internal static extern void JointSetFixed(IntPtr j);
1615 1615
1616 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] 1616 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1617 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); 1617 internal static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);
1618 1618
1619 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity] 1619 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
1620 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); 1620 internal static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1621 1621
1622 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] 1622 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
1623 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); 1623 internal static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);
1624 1624
1625 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] 1625 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
1626 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); 1626 internal static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);
1627 1627
1628 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] 1628 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1629 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); 1629 internal static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);
1630 1630
1631 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] 1631 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1632 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); 1632 internal static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);
1633 1633
1634 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] 1634 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1635 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); 1635 internal static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);
1636 1636
1637 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] 1637 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
1638 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); 1638 internal static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);
1639 1639
1640 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity] 1640 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1641 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); 1641 internal static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1642 1642
1643 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] 1643 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1644 public static extern void JointSetLMotorNumAxes(IntPtr j, int num); 1644 internal static extern void JointSetLMotorNumAxes(IntPtr j, int num);
1645 1645
1646 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] 1646 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
1647 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); 1647 internal static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);
1648 1648
1649 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] 1649 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
1650 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); 1650 internal static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);
1651 1651
1652 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] 1652 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
1653 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); 1653 internal static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);
1654 1654
1655 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] 1655 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
1656 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); 1656 internal static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);
1657 1657
1658 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] 1658 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
1659 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); 1659 internal static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);
1660 1660
1661 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] 1661 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
1662 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); 1662 internal static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);
1663 1663
1664 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] 1664 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
1665 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); 1665 internal static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);
1666 1666
1667 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] 1667 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
1668 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); 1668 internal static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);
1669 1669
1670 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] 1670 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
1671 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); 1671 internal static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);
1672 1672
1673 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity] 1673 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
1674 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); 1674 internal static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1675 1675
1676 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] 1676 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
1677 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); 1677 internal static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);
1678 1678
1679 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] 1679 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1680 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); 1680 internal static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);
1681 1681
1682 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] 1682 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1683 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); 1683 internal static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);
1684 1684
1685 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] 1685 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1686 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); 1686 internal static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);
1687 1687
1688 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] 1688 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
1689 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); 1689 internal static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);
1690 1690
1691 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity] 1691 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
1692 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip); 1692 internal static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);
1693 1693
1694 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] 1694 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
1695 public static extern void MassAdd(ref Mass a, ref Mass b); 1695 internal static extern void MassAdd(ref Mass a, ref Mass b);
1696 1696
1697 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] 1697 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
1698 public static extern void MassAdjust(ref Mass m, dReal newmass); 1698 internal static extern void MassAdjust(ref Mass m, dReal newmass);
1699 1699
1700 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] 1700 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
1701 public static extern bool MassCheck(ref Mass m); 1701 internal static extern bool MassCheck(ref Mass m);
1702 1702
1703 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] 1703 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1704 public static extern void MassRotate(ref Mass mass, ref Matrix3 R); 1704 internal static extern void MassRotate(ref Mass mass, ref Matrix3 R);
1705 1705
1706 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] 1706 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1707 public static extern void MassRotate(ref Mass mass, ref dReal M00); 1707 internal static extern void MassRotate(ref Mass mass, ref dReal M00);
1708 1708
1709 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity] 1709 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
1710 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz); 1710 internal static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);
1711 1711
1712 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity] 1712 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
1713 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz); 1713 internal static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);
1714 1714
1715 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity] 1715 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
1716 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length); 1716 internal static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1717 1717
1718 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity] 1718 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
1719 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); 1719 internal static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1720 1720
1721 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity] 1721 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
1722 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length); 1722 internal static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1723 1723
1724 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity] 1724 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
1725 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); 1725 internal static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1726 1726
1727 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] 1727 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]
1728 public static extern void MassSetParameters(out Mass mass, dReal themass, 1728 internal static extern void MassSetParameters(out Mass mass, dReal themass,
1729 dReal cgx, dReal cgy, dReal cgz, 1729 dReal cgx, dReal cgy, dReal cgz,
1730 dReal i11, dReal i22, dReal i33, 1730 dReal i11, dReal i22, dReal i33,
1731 dReal i12, dReal i13, dReal i23); 1731 dReal i12, dReal i13, dReal i23);
1732 1732
1733 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] 1733 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
1734 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); 1734 internal static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);
1735 1735
1736 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] 1736 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
1737 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); 1737 internal static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);
1738 1738
1739 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] 1739 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
1740 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); 1740 internal static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);
1741 1741
1742 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] 1742 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
1743 public static extern void MassSetZero(out Mass mass); 1743 internal static extern void MassSetZero(out Mass mass);
1744 1744
1745 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] 1745 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
1746 public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z); 1746 internal static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z);
1747 1747
1748 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] 1748 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1749 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); 1749 internal static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1750 1750
1751 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] 1751 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1752 private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r); 1752 private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r);
1753 public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector) 1753 internal static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector)
1754 { 1754 {
1755 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1); 1755 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1);
1756 } 1756 }
1757 1757
1758 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity] 1758 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]
1759 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); 1759 internal static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1760 1760
1761 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity] 1761 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]
1762 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); 1762 internal static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1763 1763
1764 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] 1764 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1765 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle); 1765 internal static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);
1766 1766
1767 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] 1767 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
1768 public static extern void QfromR(out Quaternion q, ref Matrix3 R); 1768 internal static extern void QfromR(out Quaternion q, ref Matrix3 R);
1769 1769
1770 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] 1770 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
1771 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1771 internal static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1772 1772
1773 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] 1773 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
1774 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1774 internal static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1775 1775
1776 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] 1776 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
1777 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1777 internal static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1778 1778
1779 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] 1779 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
1780 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); 1780 internal static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1781 1781
1782 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] 1782 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
1783 public static extern void QSetIdentity(out Quaternion q); 1783 internal static extern void QSetIdentity(out Quaternion q);
1784 1784
1785 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] 1785 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1786 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth); 1786 internal static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);
1787 1787
1788 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] 1788 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1789 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth); 1789 internal static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);
1790 1790
1791 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] 1791 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
1792 public static extern dReal RandReal(); 1792 internal static extern dReal RandReal();
1793 1793
1794 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity] 1794 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]
1795 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz); 1795 internal static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);
1796 1796
1797 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] 1797 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1798 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle); 1798 internal static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);
1799 1799
1800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] 1800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
1801 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); 1801 internal static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);
1802 1802
1803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] 1803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
1804 public static extern void RfromQ(out Matrix3 R, ref Quaternion q); 1804 internal static extern void RfromQ(out Matrix3 R, ref Quaternion q);
1805 1805
1806 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] 1806 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
1807 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); 1807 internal static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);
1808 1808
1809 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] 1809 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
1810 public static extern void RSetIdentity(out Matrix3 R); 1810 internal static extern void RSetIdentity(out Matrix3 R);
1811 1811
1812 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] 1812 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
1813 public static extern void SetValue(out dReal a, int n); 1813 internal static extern void SetValue(out dReal a, int n);
1814 1814
1815 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] 1815 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
1816 public static extern void SetZero(out dReal a, int n); 1816 internal static extern void SetZero(out dReal a, int n);
1817 1817
1818 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] 1818 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
1819 public static extern IntPtr SimpleSpaceCreate(IntPtr space); 1819 internal static extern IntPtr SimpleSpaceCreate(IntPtr space);
1820 1820
1821 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] 1821 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
1822 public static extern void SolveCholesky(ref dReal L, out dReal b, int n); 1822 internal static extern void SolveCholesky(ref dReal L, out dReal b, int n);
1823 1823
1824 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity] 1824 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
1825 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip); 1825 internal static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);
1826 1826
1827 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity] 1827 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
1828 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip); 1828 internal static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);
1829 1829
1830 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity] 1830 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
1831 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip); 1831 internal static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);
1832 1832
1833 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] 1833 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
1834 public static extern void SpaceAdd(IntPtr space, IntPtr geom); 1834 internal static extern void SpaceAdd(IntPtr space, IntPtr geom);
1835 1835
1836 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity] 1836 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity]
1837 public static extern bool SpaceLockQuery(IntPtr space); 1837 internal static extern bool SpaceLockQuery(IntPtr space);
1838 1838
1839 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] 1839 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
1840 public static extern void SpaceClean(IntPtr space); 1840 internal static extern void SpaceClean(IntPtr space);
1841 1841
1842 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] 1842 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
1843 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); 1843 internal static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);
1844 1844
1845 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] 1845 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
1846 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); 1846 internal static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);
1847 1847
1848 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] 1848 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
1849 public static extern void SpaceDestroy(IntPtr space); 1849 internal static extern void SpaceDestroy(IntPtr space);
1850 1850
1851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] 1851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
1852 public static extern bool SpaceGetCleanup(IntPtr space); 1852 internal static extern bool SpaceGetCleanup(IntPtr space);
1853 1853
1854 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] 1854 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
1855 public static extern int SpaceGetNumGeoms(IntPtr space); 1855 internal static extern int SpaceGetNumGeoms(IntPtr space);
1856 1856
1857 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] 1857 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
1858 public static extern IntPtr SpaceGetGeom(IntPtr space, int i); 1858 internal static extern IntPtr SpaceGetGeom(IntPtr space, int i);
1859 1859
1860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity] 1860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity]
1861 public static extern int SpaceGetSublevel(IntPtr space); 1861 internal static extern int SpaceGetSublevel(IntPtr space);
1862 1862
1863 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] 1863 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
1864 public static extern bool SpaceQuery(IntPtr space, IntPtr geom); 1864 internal static extern bool SpaceQuery(IntPtr space, IntPtr geom);
1865 1865
1866 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] 1866 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
1867 public static extern void SpaceRemove(IntPtr space, IntPtr geom); 1867 internal static extern void SpaceRemove(IntPtr space, IntPtr geom);
1868 1868
1869 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] 1869 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
1870 public static extern void SpaceSetCleanup(IntPtr space, bool mode); 1870 internal static extern void SpaceSetCleanup(IntPtr space, bool mode);
1871 1871
1872 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] 1872 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
1873 public static extern void SpaceSetSublevel(IntPtr space, int sublevel); 1873 internal static extern void SpaceSetSublevel(IntPtr space, int sublevel);
1874 1874
1875 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] 1875 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
1876 public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder); 1876 internal static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder);
1877 1877
1878 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] 1878 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
1879 public static extern void VectorScale(out dReal a, ref dReal d, int n); 1879 internal static extern void VectorScale(out dReal a, ref dReal d, int n);
1880 1880
1881 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] 1881 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
1882 public static extern IntPtr WorldCreate(); 1882 internal static extern IntPtr WorldCreate();
1883 1883
1884 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] 1884 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
1885 public static extern void WorldDestroy(IntPtr world); 1885 internal static extern void WorldDestroy(IntPtr world);
1886 1886
1887 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] 1887 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1888 public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world); 1888 internal static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world);
1889 1889
1890 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 1890 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1891 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); 1891 internal static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);
1892 1892
1893 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 1893 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1894 public static extern bool WorldGetAutoDisableFlag(IntPtr world); 1894 internal static extern bool WorldGetAutoDisableFlag(IntPtr world);
1895 1895
1896 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 1896 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1897 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); 1897 internal static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);
1898 1898
1899 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 1899 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1900 public static extern int WorldGetAutoDisableSteps(IntPtr world); 1900 internal static extern int WorldGetAutoDisableSteps(IntPtr world);
1901 1901
1902 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 1902 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1903 public static extern dReal WorldGetAutoDisableTime(IntPtr world); 1903 internal static extern dReal WorldGetAutoDisableTime(IntPtr world);
1904 1904
1905 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] 1905 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1906 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); 1906 internal static extern int WorldGetAutoEnableDepthSF1(IntPtr world);
1907 1907
1908 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] 1908 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
1909 public static extern dReal WorldGetCFM(IntPtr world); 1909 internal static extern dReal WorldGetCFM(IntPtr world);
1910 1910
1911 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] 1911 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
1912 public static extern dReal WorldGetERP(IntPtr world); 1912 internal static extern dReal WorldGetERP(IntPtr world);
1913 1913
1914 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] 1914 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1915 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); 1915 internal static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);
1916 1916
1917 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] 1917 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1918 public static extern void WorldGetGravity(IntPtr world, out dReal X); 1918 internal static extern void WorldGetGravity(IntPtr world, out dReal X);
1919 1919
1920 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] 1920 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1921 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); 1921 internal static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);
1922 1922
1923 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] 1923 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1924 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); 1924 internal static extern dReal WorldGetContactSurfaceLayer(IntPtr world);
1925 1925
1926 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity] 1926 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity]
1927 public static extern dReal WorldGetAngularDamping(IntPtr world); 1927 internal static extern dReal WorldGetAngularDamping(IntPtr world);
1928 1928
1929 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] 1929 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1930 public static extern dReal WorldGetAngularDampingThreshold(IntPtr world); 1930 internal static extern dReal WorldGetAngularDampingThreshold(IntPtr world);
1931 1931
1932 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity] 1932 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity]
1933 public static extern dReal WorldGetLinearDamping(IntPtr world); 1933 internal static extern dReal WorldGetLinearDamping(IntPtr world);
1934 1934
1935 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] 1935 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1936 public static extern dReal WorldGetLinearDampingThreshold(IntPtr world); 1936 internal static extern dReal WorldGetLinearDampingThreshold(IntPtr world);
1937 1937
1938 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] 1938 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1939 public static extern int WorldGetQuickStepNumIterations(IntPtr world); 1939 internal static extern int WorldGetQuickStepNumIterations(IntPtr world);
1940 1940
1941 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] 1941 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
1942 public static extern dReal WorldGetQuickStepW(IntPtr world); 1942 internal static extern dReal WorldGetQuickStepW(IntPtr world);
1943 1943
1944 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] 1944 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1945 public static extern dReal WorldGetMaxAngularSpeed(IntPtr world); 1945 internal static extern dReal WorldGetMaxAngularSpeed(IntPtr world);
1946 1946
1947 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] 1947 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1948 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force); 1948 internal static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);
1949 1949
1950 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] 1950 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1951 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX); 1951 internal static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);
1952 1952
1953 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] 1953 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
1954 public static extern void WorldQuickStep(IntPtr world, dReal stepsize); 1954 internal static extern void WorldQuickStep(IntPtr world, dReal stepsize);
1955 1955
1956 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity] 1956 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity]
1957 public static extern void WorldSetAngularDamping(IntPtr world, dReal scale); 1957 internal static extern void WorldSetAngularDamping(IntPtr world, dReal scale);
1958 1958
1959 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] 1959 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1960 public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold); 1960 internal static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold);
1961 1961
1962 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] 1962 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1963 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); 1963 internal static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);
1964 1964
1965 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] 1965 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1966 public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count); 1966 internal static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count);
1967 1967
1968 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] 1968 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1969 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); 1969 internal static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);
1970 1970
1971 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] 1971 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1972 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); 1972 internal static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);
1973 1973
1974 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] 1974 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1975 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); 1975 internal static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);
1976 1976
1977 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] 1977 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1978 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); 1978 internal static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);
1979 1979
1980 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] 1980 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1981 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); 1981 internal static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);
1982 1982
1983 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] 1983 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
1984 public static extern void WorldSetCFM(IntPtr world, dReal cfm); 1984 internal static extern void WorldSetCFM(IntPtr world, dReal cfm);
1985 1985
1986 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] 1986 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1987 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); 1987 internal static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);
1988 1988
1989 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] 1989 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1990 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); 1990 internal static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);
1991 1991
1992 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity] 1992 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity]
1993 public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale); 1993 internal static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale);
1994 1994
1995 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] 1995 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
1996 public static extern void WorldSetERP(IntPtr world, dReal erp); 1996 internal static extern void WorldSetERP(IntPtr world, dReal erp);
1997 1997
1998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity] 1998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1999 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z); 1999 internal static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
2000 2000
2001 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity] 2001 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity]
2002 public static extern void WorldSetLinearDamping(IntPtr world, dReal scale); 2002 internal static extern void WorldSetLinearDamping(IntPtr world, dReal scale);
2003 2003
2004 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] 2004 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
2005 public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold); 2005 internal static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold);
2006 2006
2007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] 2007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
2008 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); 2008 internal static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);
2009 2009
2010 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] 2010 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
2011 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); 2011 internal static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);
2012 2012
2013 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] 2013 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
2014 public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed); 2014 internal static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed);
2015 2015
2016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] 2016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
2017 public static extern void WorldStep(IntPtr world, dReal stepsize); 2017 internal static extern void WorldStep(IntPtr world, dReal stepsize);
2018 2018
2019 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] 2019 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
2020 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); 2020 internal static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);
2021 2021
2022 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity] 2022 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity]
2023 public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix); 2023 internal static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix);
2024 } 2024 }
2025} 2025}
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
index 98bfd1c..441aa22 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
@@ -68,7 +68,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
68 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 68 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
69 69
70 private Vector3 _position; 70 private Vector3 _position;
71 private d.Vector3 _zeroPosition; 71 private SafeNativeMethods.Vector3 _zeroPosition;
72 private bool _zeroFlag = false; 72 private bool _zeroFlag = false;
73 private bool m_lastUpdateSent = false; 73 private bool m_lastUpdateSent = false;
74 private Vector3 _velocity; 74 private Vector3 _velocity;
@@ -151,7 +151,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
151 internal IntPtr Shell { get; private set; } 151 internal IntPtr Shell { get; private set; }
152 152
153 private IntPtr Amotor = IntPtr.Zero; 153 private IntPtr Amotor = IntPtr.Zero;
154 private d.Mass ShellMass; 154 private SafeNativeMethods.Mass ShellMass;
155 155
156 private int m_eventsubscription = 0; 156 private int m_eventsubscription = 0;
157 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); 157 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
@@ -569,12 +569,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
569 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane; 569 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
570 570
571 //m_log.Debug("[ODE CHARACTER]: changing avatar tilt"); 571 //m_log.Debug("[ODE CHARACTER]: changing avatar tilt");
572 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent); 572 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
573 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced 573 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
574 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent); 574 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
575 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop 575 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
576 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f); 576 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
577 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop 577 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
578 } 578 }
579 579
580 /// <summary> 580 /// <summary>
@@ -805,11 +805,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
805 805
806 if (m_pidControllerActive == false) 806 if (m_pidControllerActive == false)
807 { 807 {
808 _zeroPosition = d.BodyGetPosition(Body); 808 _zeroPosition = SafeNativeMethods.BodyGetPosition(Body);
809 } 809 }
810 //PidStatus = true; 810 //PidStatus = true;
811 811
812 d.Vector3 localpos = d.BodyGetPosition(Body); 812 SafeNativeMethods.Vector3 localpos = SafeNativeMethods.BodyGetPosition(Body);
813 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z); 813 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
814 814
815 if (!localPos.IsFinite()) 815 if (!localPos.IsFinite())
@@ -824,7 +824,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
824 } 824 }
825 825
826 Vector3 vec = Vector3.Zero; 826 Vector3 vec = Vector3.Zero;
827 d.Vector3 vel = d.BodyGetLinearVel(Body); 827 SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
828 828
829// m_log.DebugFormat( 829// m_log.DebugFormat(
830// "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}", 830// "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}",
@@ -848,7 +848,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
848 if (!_zeroFlag) 848 if (!_zeroFlag)
849 { 849 {
850 _zeroFlag = true; 850 _zeroFlag = true;
851 _zeroPosition = d.BodyGetPosition(Body); 851 _zeroPosition = SafeNativeMethods.BodyGetPosition(Body);
852 } 852 }
853 853
854 if (m_pidControllerActive) 854 if (m_pidControllerActive)
@@ -858,7 +858,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
858 // Avatar to Avatar collisions 858 // Avatar to Avatar collisions
859 // Prim to avatar collisions 859 // Prim to avatar collisions
860 860
861 d.Vector3 pos = d.BodyGetPosition(Body); 861 SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
862 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); 862 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
863 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y)* (PID_P * 2); 863 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y)* (PID_P * 2);
864 if (flying) 864 if (flying)
@@ -906,7 +906,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
906 { 906 {
907 // We're colliding with something and we're not flying but we're moving 907 // We're colliding with something and we're not flying but we're moving
908 // This means we're walking or running. 908 // This means we're walking or running.
909 d.Vector3 pos = d.BodyGetPosition(Body); 909 SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
910 vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; 910 vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
911 vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D; 911 vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
912 vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D; 912 vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
@@ -940,7 +940,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
940 if (vec.IsFinite()) 940 if (vec.IsFinite())
941 { 941 {
942 // Apply the total force acting on this avatar 942 // Apply the total force acting on this avatar
943 d.BodyAddForce(Body, vec.X, vec.Y, vec.Z); 943 SafeNativeMethods.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
944 944
945 if (!_zeroFlag) 945 if (!_zeroFlag)
946 AlignAvatarTiltWithCurrentDirectionOfMovement(vec); 946 AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
@@ -956,7 +956,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
956 return; 956 return;
957 } 957 }
958 958
959 d.Vector3 newVel = d.BodyGetLinearVel(Body); 959 SafeNativeMethods.Vector3 newVel = SafeNativeMethods.BodyGetLinearVel(Body);
960 if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256) 960 if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256)
961 { 961 {
962// m_log.DebugFormat( 962// m_log.DebugFormat(
@@ -972,7 +972,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
972 else 972 else
973 newVel.Z = Util.Clamp<float>(newVel.Z, -255f, 255f); 973 newVel.Z = Util.Clamp<float>(newVel.Z, -255f, 255f);
974 974
975 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); 975 SafeNativeMethods.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
976 } 976 }
977 } 977 }
978 978
@@ -985,16 +985,16 @@ namespace OpenSim.Region.PhysicsModule.ODE
985 internal void UpdatePositionAndVelocity(List<OdeCharacter> defects) 985 internal void UpdatePositionAndVelocity(List<OdeCharacter> defects)
986 { 986 {
987 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! 987 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
988 d.Vector3 newPos; 988 SafeNativeMethods.Vector3 newPos;
989 try 989 try
990 { 990 {
991 newPos = d.BodyGetPosition(Body); 991 newPos = SafeNativeMethods.BodyGetPosition(Body);
992 } 992 }
993 catch (NullReferenceException) 993 catch (NullReferenceException)
994 { 994 {
995 bad = true; 995 bad = true;
996 defects.Add(this); 996 defects.Add(this);
997 newPos = new d.Vector3(_position.X, _position.Y, _position.Z); 997 newPos = new SafeNativeMethods.Vector3(_position.X, _position.Y, _position.Z);
998 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem! 998 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
999 m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid); 999 m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid);
1000 1000
@@ -1031,11 +1031,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
1031 else 1031 else
1032 { 1032 {
1033 m_lastUpdateSent = false; 1033 m_lastUpdateSent = false;
1034 d.Vector3 newVelocity; 1034 SafeNativeMethods.Vector3 newVelocity;
1035 1035
1036 try 1036 try
1037 { 1037 {
1038 newVelocity = d.BodyGetLinearVel(Body); 1038 newVelocity = SafeNativeMethods.BodyGetLinearVel(Body);
1039 } 1039 }
1040 catch (NullReferenceException) 1040 catch (NullReferenceException)
1041 { 1041 {
@@ -1102,14 +1102,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
1102 } 1102 }
1103 1103
1104// lock (OdeScene.UniversalColliderSyncObject) 1104// lock (OdeScene.UniversalColliderSyncObject)
1105 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH); 1105 Shell = SafeNativeMethods.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
1106 1106
1107 d.GeomSetCategoryBits(Shell, (uint)m_collisionCategories); 1107 SafeNativeMethods.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
1108 d.GeomSetCollideBits(Shell, (uint)m_collisionFlags); 1108 SafeNativeMethods.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
1109 1109
1110 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH); 1110 SafeNativeMethods.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
1111 Body = d.BodyCreate(_parent_scene.world); 1111 Body = SafeNativeMethods.BodyCreate(_parent_scene.world);
1112 d.BodySetPosition(Body, npositionX, npositionY, npositionZ); 1112 SafeNativeMethods.BodySetPosition(Body, npositionX, npositionY, npositionZ);
1113 1113
1114 _position.X = npositionX; 1114 _position.X = npositionX;
1115 _position.Y = npositionY; 1115 _position.Y = npositionY;
@@ -1117,45 +1117,45 @@ namespace OpenSim.Region.PhysicsModule.ODE
1117 1117
1118 m_taintPosition = _position; 1118 m_taintPosition = _position;
1119 1119
1120 d.BodySetMass(Body, ref ShellMass); 1120 SafeNativeMethods.BodySetMass(Body, ref ShellMass);
1121 d.Matrix3 m_caprot; 1121 SafeNativeMethods.Matrix3 m_caprot;
1122 // 90 Stand up on the cap of the capped cyllinder 1122 // 90 Stand up on the cap of the capped cyllinder
1123 if (_parent_scene.IsAvCapsuleTilted) 1123 if (_parent_scene.IsAvCapsuleTilted)
1124 { 1124 {
1125 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2)); 1125 SafeNativeMethods.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
1126 } 1126 }
1127 else 1127 else
1128 { 1128 {
1129 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2)); 1129 SafeNativeMethods.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
1130 } 1130 }
1131 1131
1132 d.GeomSetRotation(Shell, ref m_caprot); 1132 SafeNativeMethods.GeomSetRotation(Shell, ref m_caprot);
1133 d.BodySetRotation(Body, ref m_caprot); 1133 SafeNativeMethods.BodySetRotation(Body, ref m_caprot);
1134 1134
1135 d.GeomSetBody(Shell, Body); 1135 SafeNativeMethods.GeomSetBody(Shell, Body);
1136 1136
1137 // The purpose of the AMotor here is to keep the avatar's physical 1137 // The purpose of the AMotor here is to keep the avatar's physical
1138 // surrogate from rotating while moving 1138 // surrogate from rotating while moving
1139 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); 1139 Amotor = SafeNativeMethods.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
1140 d.JointAttach(Amotor, Body, IntPtr.Zero); 1140 SafeNativeMethods.JointAttach(Amotor, Body, IntPtr.Zero);
1141 d.JointSetAMotorMode(Amotor, dAMotorEuler); 1141 SafeNativeMethods.JointSetAMotorMode(Amotor, dAMotorEuler);
1142 d.JointSetAMotorNumAxes(Amotor, 3); 1142 SafeNativeMethods.JointSetAMotorNumAxes(Amotor, 3);
1143 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0); 1143 SafeNativeMethods.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
1144 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0); 1144 SafeNativeMethods.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
1145 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1); 1145 SafeNativeMethods.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
1146 d.JointSetAMotorAngle(Amotor, 0, 0); 1146 SafeNativeMethods.JointSetAMotorAngle(Amotor, 0, 0);
1147 d.JointSetAMotorAngle(Amotor, 1, 0); 1147 SafeNativeMethods.JointSetAMotorAngle(Amotor, 1, 0);
1148 d.JointSetAMotorAngle(Amotor, 2, 0); 1148 SafeNativeMethods.JointSetAMotorAngle(Amotor, 2, 0);
1149 1149
1150 // These lowstops and high stops are effectively (no wiggle room) 1150 // These lowstops and high stops are effectively (no wiggle room)
1151 if (_parent_scene.IsAvCapsuleTilted) 1151 if (_parent_scene.IsAvCapsuleTilted)
1152 { 1152 {
1153 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f); 1153 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
1154 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f); 1154 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
1155 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f); 1155 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
1156 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f); 1156 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
1157 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f); 1157 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
1158 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f); 1158 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
1159 } 1159 }
1160 else 1160 else
1161 { 1161 {
@@ -1167,18 +1167,18 @@ namespace OpenSim.Region.PhysicsModule.ODE
1167 // to be comprehended in their entirety. 1167 // to be comprehended in their entirety.
1168 #endregion 1168 #endregion
1169 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero); 1169 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
1170 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f); 1170 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
1171 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f); 1171 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
1172 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f); 1172 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
1173 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced 1173 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
1174 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop 1174 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
1175 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop 1175 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
1176 } 1176 }
1177 1177
1178 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the 1178 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
1179 // capped cyllinder will fall over 1179 // capped cyllinder will fall over
1180 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f); 1180 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
1181 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor); 1181 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
1182 1182
1183 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body); 1183 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
1184 //d.QfromR( 1184 //d.QfromR(
@@ -1217,7 +1217,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1217 if (Amotor != IntPtr.Zero) 1217 if (Amotor != IntPtr.Zero)
1218 { 1218 {
1219 // Kill the Amotor 1219 // Kill the Amotor
1220 d.JointDestroy(Amotor); 1220 SafeNativeMethods.JointDestroy(Amotor);
1221 Amotor = IntPtr.Zero; 1221 Amotor = IntPtr.Zero;
1222 } 1222 }
1223 1223
@@ -1227,14 +1227,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
1227 if (Body != IntPtr.Zero) 1227 if (Body != IntPtr.Zero)
1228 { 1228 {
1229 //kill the body 1229 //kill the body
1230 d.BodyDestroy(Body); 1230 SafeNativeMethods.BodyDestroy(Body);
1231 Body = IntPtr.Zero; 1231 Body = IntPtr.Zero;
1232 } 1232 }
1233 1233
1234 if (Shell != IntPtr.Zero) 1234 if (Shell != IntPtr.Zero)
1235 { 1235 {
1236// lock (OdeScene.UniversalColliderSyncObject) 1236// lock (OdeScene.UniversalColliderSyncObject)
1237 d.GeomDestroy(Shell); 1237 SafeNativeMethods.GeomDestroy(Shell);
1238 1238
1239 _parent_scene.geom_name_map.Remove(Shell); 1239 _parent_scene.geom_name_map.Remove(Shell);
1240 _parent_scene.actor_name_map.Remove(Shell); 1240 _parent_scene.actor_name_map.Remove(Shell);
@@ -1325,7 +1325,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1325 { 1325 {
1326 if (Body != IntPtr.Zero) 1326 if (Body != IntPtr.Zero)
1327 { 1327 {
1328 d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z); 1328 SafeNativeMethods.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
1329 _position = m_taintPosition; 1329 _position = m_taintPosition;
1330 } 1330 }
1331 } 1331 }
@@ -1337,7 +1337,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1337 // FIXME: This is not a good solution since it's subject to a race condition if a force is another 1337 // FIXME: This is not a good solution since it's subject to a race condition if a force is another
1338 // thread sets a new force while we're in this loop (since it could be obliterated by 1338 // thread sets a new force while we're in this loop (since it could be obliterated by
1339 // m_taintForce = Vector3.Zero. Need to lock ProcessTaints() when we set a new tainted force. 1339 // m_taintForce = Vector3.Zero. Need to lock ProcessTaints() when we set a new tainted force.
1340 d.BodyAddForce(Body, m_taintForce.X, m_taintForce.Y, m_taintForce.Z); 1340 SafeNativeMethods.BodyAddForce(Body, m_taintForce.X, m_taintForce.Y, m_taintForce.Z);
1341 } 1341 }
1342 1342
1343 m_taintForce = Vector3.Zero; 1343 m_taintForce = Vector3.Zero;
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
index 7e95d7f..39aea59 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
@@ -93,7 +93,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
93 private float m_linearMotorDecayTimescale = 0; 93 private float m_linearMotorDecayTimescale = 0;
94 private float m_linearMotorTimescale = 0; 94 private float m_linearMotorTimescale = 0;
95 private Vector3 m_lastLinearVelocityVector = Vector3.Zero; 95 private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
96 private d.Vector3 m_lastPositionVector = new d.Vector3(); 96 private SafeNativeMethods.Vector3 m_lastPositionVector = new SafeNativeMethods.Vector3();
97 // private bool m_LinearMotorSetLastFrame = false; 97 // private bool m_LinearMotorSetLastFrame = false;
98 // private Vector3 m_linearMotorOffset = Vector3.Zero; 98 // private Vector3 m_linearMotorOffset = Vector3.Zero;
99 99
@@ -611,7 +611,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
611 { 611 {
612 m_lastLinearVelocityVector = Vector3.Zero; 612 m_lastLinearVelocityVector = Vector3.Zero;
613 m_lastAngularVelocity = Vector3.Zero; 613 m_lastAngularVelocity = Vector3.Zero;
614 m_lastPositionVector = d.BodyGetPosition(Body); 614 m_lastPositionVector = SafeNativeMethods.BodyGetPosition(Body);
615 } 615 }
616 616
617 internal void Step(float pTimestep, OdeScene pParentScene) 617 internal void Step(float pTimestep, OdeScene pParentScene)
@@ -631,8 +631,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
631 { 631 {
632 if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant 632 if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
633 { 633 {
634 if (!d.BodyIsEnabled(Body)) 634 if (!SafeNativeMethods.BodyIsEnabled(Body))
635 d.BodyEnable(Body); 635 SafeNativeMethods.BodyEnable(Body);
636 636
637 // add drive to body 637 // add drive to body
638 Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); 638 Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
@@ -662,7 +662,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
662 662
663 // convert requested object velocity to world-referenced vector 663 // convert requested object velocity to world-referenced vector
664 m_dir = m_lastLinearVelocityVector; 664 m_dir = m_lastLinearVelocityVector;
665 d.Quaternion rot = d.BodyGetQuaternion(Body); 665 SafeNativeMethods.Quaternion rot = SafeNativeMethods.BodyGetQuaternion(Body);
666 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object 666 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
667 m_dir *= rotq; // apply obj rotation to velocity vector 667 m_dir *= rotq; // apply obj rotation to velocity vector
668 668
@@ -673,15 +673,15 @@ namespace OpenSim.Region.PhysicsModule.ODE
673 Vector3 grav = Vector3.Zero; 673 Vector3 grav = Vector3.Zero;
674 // There is some gravity, make a gravity force vector 674 // There is some gravity, make a gravity force vector
675 // that is applied after object velocity. 675 // that is applied after object velocity.
676 d.Mass objMass; 676 SafeNativeMethods.Mass objMass;
677 d.BodyGetMass(Body, out objMass); 677 SafeNativeMethods.BodyGetMass(Body, out objMass);
678 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 678 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
679 grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); 679 grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
680 // Preserve the current Z velocity 680 // Preserve the current Z velocity
681 d.Vector3 vel_now = d.BodyGetLinearVel(Body); 681 SafeNativeMethods.Vector3 vel_now = SafeNativeMethods.BodyGetLinearVel(Body);
682 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity 682 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
683 683
684 d.Vector3 pos = d.BodyGetPosition(Body); 684 SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
685// 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); 685// 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);
686 Vector3 posChange = new Vector3(); 686 Vector3 posChange = new Vector3();
687 posChange.X = pos.X - m_lastPositionVector.X; 687 posChange.X = pos.X - m_lastPositionVector.X;
@@ -693,33 +693,33 @@ namespace OpenSim.Region.PhysicsModule.ODE
693 if (pos.X >= (m_BlockingEndPoint.X - (float)1)) 693 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
694 { 694 {
695 pos.X -= posChange.X + 1; 695 pos.X -= posChange.X + 1;
696 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); 696 SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
697 } 697 }
698 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) 698 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
699 { 699 {
700 pos.Y -= posChange.Y + 1; 700 pos.Y -= posChange.Y + 1;
701 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); 701 SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
702 } 702 }
703 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) 703 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
704 { 704 {
705 pos.Z -= posChange.Z + 1; 705 pos.Z -= posChange.Z + 1;
706 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); 706 SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
707 } 707 }
708 if (pos.X <= 0) 708 if (pos.X <= 0)
709 { 709 {
710 pos.X += posChange.X + 1; 710 pos.X += posChange.X + 1;
711 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); 711 SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
712 } 712 }
713 if (pos.Y <= 0) 713 if (pos.Y <= 0)
714 { 714 {
715 pos.Y += posChange.Y + 1; 715 pos.Y += posChange.Y + 1;
716 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); 716 SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
717 } 717 }
718 } 718 }
719 if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y)) 719 if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
720 { 720 {
721 pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; 721 pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
722 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); 722 SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
723 } 723 }
724 724
725 // Check if hovering 725 // Check if hovering
@@ -748,7 +748,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
748 { 748 {
749 if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) 749 if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
750 { 750 {
751 d.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight); 751 SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight);
752 } 752 }
753 } 753 }
754 else 754 else
@@ -815,12 +815,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
815 m_dir.Z = 0; 815 m_dir.Z = 0;
816 } 816 }
817 817
818 m_lastPositionVector = d.BodyGetPosition(Body); 818 m_lastPositionVector = SafeNativeMethods.BodyGetPosition(Body);
819 819
820 // Apply velocity 820 // Apply velocity
821 d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z); 821 SafeNativeMethods.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
822 // apply gravity force 822 // apply gravity force
823 d.BodyAddForce(Body, grav.X, grav.Y, grav.Z); 823 SafeNativeMethods.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
824 824
825 825
826 // apply friction 826 // apply friction
@@ -841,7 +841,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
841 */ 841 */
842 842
843 // Get what the body is doing, this includes 'external' influences 843 // Get what the body is doing, this includes 'external' influences
844 d.Vector3 angularVelocity = d.BodyGetAngularVel(Body); 844 SafeNativeMethods.Vector3 angularVelocity = SafeNativeMethods.BodyGetAngularVel(Body);
845 // Vector3 angularVelocity = Vector3.Zero; 845 // Vector3 angularVelocity = Vector3.Zero;
846 846
847 if (m_angularMotorApply > 0) 847 if (m_angularMotorApply > 0)
@@ -874,7 +874,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
874 { 874 {
875 float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); 875 float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
876 // get present body rotation 876 // get present body rotation
877 d.Quaternion rot = d.BodyGetQuaternion(Body); 877 SafeNativeMethods.Quaternion rot = SafeNativeMethods.BodyGetQuaternion(Body);
878 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); 878 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
879 // make a vector pointing up 879 // make a vector pointing up
880 Vector3 verterr = Vector3.Zero; 880 Vector3 verterr = Vector3.Zero;
@@ -923,7 +923,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
923 923
924 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) 924 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
925 { 925 {
926 if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); 926 if (!SafeNativeMethods.BodyIsEnabled (Body)) SafeNativeMethods.BodyEnable (Body);
927 } 927 }
928 else 928 else
929 { 929 {
@@ -935,14 +935,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
935 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; 935 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
936 936
937 // Apply to the body 937 // Apply to the body
938 d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z); 938 SafeNativeMethods.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
939 939
940 } //end MoveAngular 940 } //end MoveAngular
941 internal void LimitRotation(float timestep) 941 internal void LimitRotation(float timestep)
942 { 942 {
943 d.Quaternion rot = d.BodyGetQuaternion(Body); 943 SafeNativeMethods.Quaternion rot = SafeNativeMethods.BodyGetQuaternion(Body);
944 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object 944 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
945 d.Quaternion m_rot = new d.Quaternion(); 945 SafeNativeMethods.Quaternion m_rot = new SafeNativeMethods.Quaternion();
946 bool changed = false; 946 bool changed = false;
947 m_rot.X = rotq.X; 947 m_rot.X = rotq.X;
948 m_rot.Y = rotq.Y; 948 m_rot.Y = rotq.Y;
@@ -975,7 +975,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
975 changed = true; 975 changed = true;
976 } 976 }
977 if (changed) 977 if (changed)
978 d.BodySetQuaternion(Body, ref m_rot); 978 SafeNativeMethods.BodySetQuaternion(Body, ref m_rot);
979 } 979 }
980 } 980 }
981} 981}
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs b/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs
index 22fc84d..2cf7baa 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEModule.cs
@@ -63,7 +63,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
63 63
64 // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to 64 // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
65 // http://opensimulator.org/mantis/view.php?id=2750). 65 // http://opensimulator.org/mantis/view.php?id=2750).
66 d.InitODE(); 66 SafeNativeMethods.InitODE();
67 67
68 m_scene = new OdeScene(scene, m_config, Name, Version); 68 m_scene = new OdeScene(scene, m_config, Name, Version);
69 } 69 }
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
index 8934330..b1c3b7c 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
@@ -212,7 +212,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
212 212
213 public IntPtr Body = IntPtr.Zero; 213 public IntPtr Body = IntPtr.Zero;
214 private Vector3 _target_velocity; 214 private Vector3 _target_velocity;
215 private d.Mass pMass; 215 private SafeNativeMethods.Mass pMass;
216 216
217 private int m_eventsubscription; 217 private int m_eventsubscription;
218 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); 218 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
@@ -356,13 +356,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
356 356
357 if (m_assetFailed) 357 if (m_assetFailed)
358 { 358 {
359 d.GeomSetCategoryBits(prim_geom, 0); 359 SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
360 d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits); 360 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
361 } 361 }
362 else 362 else
363 { 363 {
364 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); 364 SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
365 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); 365 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
366 } 366 }
367 367
368 _parent_scene.geom_name_map[prim_geom] = Name; 368 _parent_scene.geom_name_map[prim_geom] = Name;
@@ -386,7 +386,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
386 { 386 {
387 if (IsPhysical && Body != IntPtr.Zero) 387 if (IsPhysical && Body != IntPtr.Zero)
388 { 388 {
389 d.BodyEnable(Body); 389 SafeNativeMethods.BodyEnable(Body);
390 if (m_vehicle.Type != Vehicle.TYPE_NONE) 390 if (m_vehicle.Type != Vehicle.TYPE_NONE)
391 m_vehicle.Enable(Body, _parent_scene); 391 m_vehicle.Enable(Body, _parent_scene);
392 } 392 }
@@ -401,7 +401,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
401 401
402 if (IsPhysical && Body != IntPtr.Zero) 402 if (IsPhysical && Body != IntPtr.Zero)
403 { 403 {
404 d.BodyDisable(Body); 404 SafeNativeMethods.BodyDisable(Body);
405 } 405 }
406 } 406 }
407 407
@@ -415,22 +415,22 @@ namespace OpenSim.Region.PhysicsModule.ODE
415 if (!childPrim) 415 if (!childPrim)
416 { 416 {
417 // Sets the geom to a body 417 // Sets the geom to a body
418 Body = d.BodyCreate(_parent_scene.world); 418 Body = SafeNativeMethods.BodyCreate(_parent_scene.world);
419 419
420 setMass(); 420 setMass();
421 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); 421 SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
422 d.Quaternion myrot = new d.Quaternion(); 422 SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
423 myrot.X = _orientation.X; 423 myrot.X = _orientation.X;
424 myrot.Y = _orientation.Y; 424 myrot.Y = _orientation.Y;
425 myrot.Z = _orientation.Z; 425 myrot.Z = _orientation.Z;
426 myrot.W = _orientation.W; 426 myrot.W = _orientation.W;
427 d.BodySetQuaternion(Body, ref myrot); 427 SafeNativeMethods.BodySetQuaternion(Body, ref myrot);
428 d.GeomSetBody(prim_geom, Body); 428 SafeNativeMethods.GeomSetBody(prim_geom, Body);
429 429
430 if (m_assetFailed) 430 if (m_assetFailed)
431 { 431 {
432 d.GeomSetCategoryBits(prim_geom, 0); 432 SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
433 d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits); 433 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
434 } 434 }
435 else 435 else
436 { 436 {
@@ -438,14 +438,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
438 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); 438 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
439 } 439 }
440 440
441 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); 441 SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
442 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); 442 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
443 443
444 d.BodySetAutoDisableFlag(Body, true); 444 SafeNativeMethods.BodySetAutoDisableFlag(Body, true);
445 d.BodySetAutoDisableSteps(Body, body_autodisable_frames); 445 SafeNativeMethods.BodySetAutoDisableSteps(Body, body_autodisable_frames);
446 446
447 // disconnect from world gravity so we can apply buoyancy 447 // disconnect from world gravity so we can apply buoyancy
448 d.BodySetGravityMode (Body, false); 448 SafeNativeMethods.BodySetGravityMode (Body, false);
449 449
450 m_interpenetrationcount = 0; 450 m_interpenetrationcount = 0;
451 m_collisionscore = 0; 451 m_collisionscore = 0;
@@ -787,8 +787,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
787 787
788 //m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString()); 788 //m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString());
789 789
790 d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z); 790 SafeNativeMethods.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
791 d.BodySetMass(Body, ref pMass); 791 SafeNativeMethods.BodySetMass(Body, ref pMass);
792 } 792 }
793 } 793 }
794 794
@@ -796,7 +796,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
796 { 796 {
797 if (Body != (IntPtr)0) 797 if (Body != (IntPtr)0)
798 { 798 {
799 d.BodySetAngularVel(Body, x, y, z); 799 SafeNativeMethods.BodySetAngularVel(Body, x, y, z);
800 } 800 }
801 } 801 }
802 802
@@ -818,16 +818,16 @@ namespace OpenSim.Region.PhysicsModule.ODE
818 818
819 if (m_assetFailed) 819 if (m_assetFailed)
820 { 820 {
821 d.GeomSetCategoryBits(prim_geom, 0); 821 SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
822 d.GeomSetCollideBits(prim_geom, 0); 822 SafeNativeMethods.GeomSetCollideBits(prim_geom, 0);
823 } 823 }
824 else 824 else
825 { 825 {
826 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); 826 SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
827 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); 827 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
828 } 828 }
829 829
830 d.BodyDestroy(Body); 830 SafeNativeMethods.BodyDestroy(Body);
831 lock (childrenPrim) 831 lock (childrenPrim)
832 { 832 {
833 if (childrenPrim.Count > 0) 833 if (childrenPrim.Count > 0)
@@ -851,14 +851,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
851 851
852 if (m_assetFailed) 852 if (m_assetFailed)
853 { 853 {
854 d.GeomSetCategoryBits(prim_geom, 0); 854 SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
855 d.GeomSetCollideBits(prim_geom, 0); 855 SafeNativeMethods.GeomSetCollideBits(prim_geom, 0);
856 } 856 }
857 else 857 else
858 { 858 {
859 859
860 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); 860 SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
861 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); 861 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
862 } 862 }
863 863
864 Body = IntPtr.Zero; 864 Body = IntPtr.Zero;
@@ -915,10 +915,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
915 } 915 }
916 else 916 else
917 { 917 {
918 _triMeshData = d.GeomTriMeshDataCreate(); 918 _triMeshData = SafeNativeMethods.GeomTriMeshDataCreate();
919 919
920 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); 920 SafeNativeMethods.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
921 d.GeomTriMeshDataPreprocess(_triMeshData); 921 SafeNativeMethods.GeomTriMeshDataPreprocess(_triMeshData);
922 m_MeshToTriMeshMap[mesh] = _triMeshData; 922 m_MeshToTriMeshMap[mesh] = _triMeshData;
923 } 923 }
924 } 924 }
@@ -926,7 +926,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
926// _parent_scene.waitForSpaceUnlock(m_targetSpace); 926// _parent_scene.waitForSpaceUnlock(m_targetSpace);
927 try 927 try
928 { 928 {
929 SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null)); 929 SetGeom(SafeNativeMethods.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null));
930 } 930 }
931 catch (AccessViolationException) 931 catch (AccessViolationException)
932 { 932 {
@@ -1032,7 +1032,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
1032 { 1032 {
1033 if (Amotor != IntPtr.Zero) 1033 if (Amotor != IntPtr.Zero)
1034 { 1034 {
1035 d.JointDestroy(Amotor); 1035 SafeNativeMethods.JointDestroy(Amotor);
1036 Amotor = IntPtr.Zero; 1036 Amotor = IntPtr.Zero;
1037 } 1037 }
1038 } 1038 }
@@ -1107,7 +1107,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
1107 1107
1108 if (Body == IntPtr.Zero) 1108 if (Body == IntPtr.Zero)
1109 { 1109 {
1110 Body = d.BodyCreate(_parent_scene.world); 1110 Body = SafeNativeMethods.BodyCreate(_parent_scene.world);
1111 setMass(); 1111 setMass();
1112 } 1112 }
1113 1113
@@ -1123,21 +1123,21 @@ Console.WriteLine("ZProcessTaints for " + Name);
1123 1123
1124 foreach (OdePrim prm in childrenPrim) 1124 foreach (OdePrim prm in childrenPrim)
1125 { 1125 {
1126 d.Mass m2; 1126 SafeNativeMethods.Mass m2;
1127 d.MassSetZero(out m2); 1127 SafeNativeMethods.MassSetZero(out m2);
1128 d.MassSetBoxTotal(out m2, prm.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z); 1128 SafeNativeMethods.MassSetBoxTotal(out m2, prm.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
1129 1129
1130 d.Quaternion quat = new d.Quaternion(); 1130 SafeNativeMethods.Quaternion quat = new SafeNativeMethods.Quaternion();
1131 quat.W = prm._orientation.W; 1131 quat.W = prm._orientation.W;
1132 quat.X = prm._orientation.X; 1132 quat.X = prm._orientation.X;
1133 quat.Y = prm._orientation.Y; 1133 quat.Y = prm._orientation.Y;
1134 quat.Z = prm._orientation.Z; 1134 quat.Z = prm._orientation.Z;
1135 1135
1136 d.Matrix3 mat = new d.Matrix3(); 1136 SafeNativeMethods.Matrix3 mat = new SafeNativeMethods.Matrix3();
1137 d.RfromQ(out mat, ref quat); 1137 SafeNativeMethods.RfromQ(out mat, ref quat);
1138 d.MassRotate(ref m2, ref mat); 1138 SafeNativeMethods.MassRotate(ref m2, ref mat);
1139 d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z); 1139 SafeNativeMethods.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
1140 d.MassAdd(ref pMass, ref m2); 1140 SafeNativeMethods.MassAdd(ref pMass, ref m2);
1141 } 1141 }
1142 1142
1143 foreach (OdePrim prm in childrenPrim) 1143 foreach (OdePrim prm in childrenPrim)
@@ -1148,36 +1148,36 @@ Console.WriteLine("ZProcessTaints for " + Name);
1148//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name); 1148//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name);
1149 if (prm.m_assetFailed) 1149 if (prm.m_assetFailed)
1150 { 1150 {
1151 d.GeomSetCategoryBits(prm.prim_geom, 0); 1151 SafeNativeMethods.GeomSetCategoryBits(prm.prim_geom, 0);
1152 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.BadMeshAssetCollideBits); 1152 SafeNativeMethods.GeomSetCollideBits(prm.prim_geom, (uint)prm.BadMeshAssetCollideBits);
1153 } 1153 }
1154 else 1154 else
1155 { 1155 {
1156 d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); 1156 SafeNativeMethods.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
1157 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); 1157 SafeNativeMethods.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
1158 } 1158 }
1159 1159
1160 d.Quaternion quat = new d.Quaternion(); 1160 SafeNativeMethods.Quaternion quat = new SafeNativeMethods.Quaternion();
1161 quat.W = prm._orientation.W; 1161 quat.W = prm._orientation.W;
1162 quat.X = prm._orientation.X; 1162 quat.X = prm._orientation.X;
1163 quat.Y = prm._orientation.Y; 1163 quat.Y = prm._orientation.Y;
1164 quat.Z = prm._orientation.Z; 1164 quat.Z = prm._orientation.Z;
1165 1165
1166 d.Matrix3 mat = new d.Matrix3(); 1166 SafeNativeMethods.Matrix3 mat = new SafeNativeMethods.Matrix3();
1167 d.RfromQ(out mat, ref quat); 1167 SafeNativeMethods.RfromQ(out mat, ref quat);
1168 if (Body != IntPtr.Zero) 1168 if (Body != IntPtr.Zero)
1169 { 1169 {
1170 d.GeomSetBody(prm.prim_geom, Body); 1170 SafeNativeMethods.GeomSetBody(prm.prim_geom, Body);
1171 prm.childPrim = true; 1171 prm.childPrim = true;
1172 d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); 1172 SafeNativeMethods.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
1173 //d.GeomSetOffsetPosition(prim.prim_geom, 1173 //d.GeomSetOffsetPosition(prim.prim_geom,
1174 // (Position.X - prm.Position.X) - pMass.c.X, 1174 // (Position.X - prm.Position.X) - pMass.c.X,
1175 // (Position.Y - prm.Position.Y) - pMass.c.Y, 1175 // (Position.Y - prm.Position.Y) - pMass.c.Y,
1176 // (Position.Z - prm.Position.Z) - pMass.c.Z); 1176 // (Position.Z - prm.Position.Z) - pMass.c.Z);
1177 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); 1177 SafeNativeMethods.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
1178 //d.GeomSetOffsetRotation(prm.prim_geom, ref mat); 1178 //d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
1179 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); 1179 SafeNativeMethods.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
1180 d.BodySetMass(Body, ref pMass); 1180 SafeNativeMethods.BodySetMass(Body, ref pMass);
1181 } 1181 }
1182 else 1182 else
1183 { 1183 {
@@ -1197,37 +1197,37 @@ Console.WriteLine("ZProcessTaints for " + Name);
1197 1197
1198 if (m_assetFailed) 1198 if (m_assetFailed)
1199 { 1199 {
1200 d.GeomSetCategoryBits(prim_geom, 0); 1200 SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
1201 d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits); 1201 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
1202 } 1202 }
1203 else 1203 else
1204 { 1204 {
1205 //Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name); 1205 //Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name);
1206 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); 1206 SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1207 //Console.WriteLine(" Post GeomSetCategoryBits 2"); 1207 //Console.WriteLine(" Post GeomSetCategoryBits 2");
1208 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); 1208 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1209 } 1209 }
1210 1210
1211 d.Quaternion quat2 = new d.Quaternion(); 1211 SafeNativeMethods.Quaternion quat2 = new SafeNativeMethods.Quaternion();
1212 quat2.W = _orientation.W; 1212 quat2.W = _orientation.W;
1213 quat2.X = _orientation.X; 1213 quat2.X = _orientation.X;
1214 quat2.Y = _orientation.Y; 1214 quat2.Y = _orientation.Y;
1215 quat2.Z = _orientation.Z; 1215 quat2.Z = _orientation.Z;
1216 1216
1217 d.Matrix3 mat2 = new d.Matrix3(); 1217 SafeNativeMethods.Matrix3 mat2 = new SafeNativeMethods.Matrix3();
1218 d.RfromQ(out mat2, ref quat2); 1218 SafeNativeMethods.RfromQ(out mat2, ref quat2);
1219 d.GeomSetBody(prim_geom, Body); 1219 SafeNativeMethods.GeomSetBody(prim_geom, Body);
1220 d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z); 1220 SafeNativeMethods.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
1221 //d.GeomSetOffsetPosition(prim.prim_geom, 1221 //d.GeomSetOffsetPosition(prim.prim_geom,
1222 // (Position.X - prm.Position.X) - pMass.c.X, 1222 // (Position.X - prm.Position.X) - pMass.c.X,
1223 // (Position.Y - prm.Position.Y) - pMass.c.Y, 1223 // (Position.Y - prm.Position.Y) - pMass.c.Y,
1224 // (Position.Z - prm.Position.Z) - pMass.c.Z); 1224 // (Position.Z - prm.Position.Z) - pMass.c.Z);
1225 //d.GeomSetOffsetRotation(prim_geom, ref mat2); 1225 //d.GeomSetOffsetRotation(prim_geom, ref mat2);
1226 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); 1226 SafeNativeMethods.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
1227 d.BodySetMass(Body, ref pMass); 1227 SafeNativeMethods.BodySetMass(Body, ref pMass);
1228 1228
1229 d.BodySetAutoDisableFlag(Body, true); 1229 SafeNativeMethods.BodySetAutoDisableFlag(Body, true);
1230 d.BodySetAutoDisableSteps(Body, body_autodisable_frames); 1230 SafeNativeMethods.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1231 1231
1232 m_interpenetrationcount = 0; 1232 m_interpenetrationcount = 0;
1233 m_collisionscore = 0; 1233 m_collisionscore = 0;
@@ -1240,7 +1240,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
1240 createAMotor(m_angularlock); 1240 createAMotor(m_angularlock);
1241 } 1241 }
1242 1242
1243 d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); 1243 SafeNativeMethods.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
1244 1244
1245 if (m_vehicle.Type != Vehicle.TYPE_NONE) 1245 if (m_vehicle.Type != Vehicle.TYPE_NONE)
1246 m_vehicle.Enable(Body, _parent_scene); 1246 m_vehicle.Enable(Body, _parent_scene);
@@ -1370,13 +1370,13 @@ Console.WriteLine("ZProcessTaints for " + Name);
1370 1370
1371 if (m_assetFailed) 1371 if (m_assetFailed)
1372 { 1372 {
1373 d.GeomSetCategoryBits(prim_geom, 0); 1373 SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
1374 d.GeomSetCollideBits(prim_geom, 0); 1374 SafeNativeMethods.GeomSetCollideBits(prim_geom, 0);
1375 } 1375 }
1376 else 1376 else
1377 { 1377 {
1378 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); 1378 SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1379 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); 1379 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1380 } 1380 }
1381 1381
1382 if (IsPhysical) 1382 if (IsPhysical)
@@ -1400,21 +1400,21 @@ Console.WriteLine("ZProcessTaints for " + Name);
1400 1400
1401 if (m_assetFailed) 1401 if (m_assetFailed)
1402 { 1402 {
1403 d.GeomSetCategoryBits(prim_geom, 0); 1403 SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
1404 d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits); 1404 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
1405 } 1405 }
1406 else 1406 else
1407 { 1407 {
1408 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); 1408 SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1409 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); 1409 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1410 } 1410 }
1411 1411
1412 if (IsPhysical) 1412 if (IsPhysical)
1413 { 1413 {
1414 if (Body != IntPtr.Zero) 1414 if (Body != IntPtr.Zero)
1415 { 1415 {
1416 d.BodySetLinearVel(Body, 0f, 0f, 0f); 1416 SafeNativeMethods.BodySetLinearVel(Body, 0f, 0f, 0f);
1417 d.BodySetForce(Body, 0, 0, 0); 1417 SafeNativeMethods.BodySetForce(Body, 0, 0, 0);
1418 enableBodySoft(); 1418 enableBodySoft();
1419 } 1419 }
1420 } 1420 }
@@ -1463,7 +1463,7 @@ Console.WriteLine("CreateGeom:");
1463 try 1463 try
1464 { 1464 {
1465//Console.WriteLine(" CreateGeom 1"); 1465//Console.WriteLine(" CreateGeom 1");
1466 SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2)); 1466 SetGeom(SafeNativeMethods.CreateSphere(m_targetSpace, _size.X / 2));
1467 m_expectedCollisionContacts = 3; 1467 m_expectedCollisionContacts = 3;
1468 } 1468 }
1469 catch (AccessViolationException) 1469 catch (AccessViolationException)
@@ -1478,7 +1478,7 @@ Console.WriteLine("CreateGeom:");
1478 try 1478 try
1479 { 1479 {
1480//Console.WriteLine(" CreateGeom 2"); 1480//Console.WriteLine(" CreateGeom 2");
1481 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); 1481 SetGeom(SafeNativeMethods.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1482 m_expectedCollisionContacts = 4; 1482 m_expectedCollisionContacts = 4;
1483 } 1483 }
1484 catch (AccessViolationException) 1484 catch (AccessViolationException)
@@ -1494,7 +1494,7 @@ Console.WriteLine("CreateGeom:");
1494 try 1494 try
1495 { 1495 {
1496//Console.WriteLine(" CreateGeom 3"); 1496//Console.WriteLine(" CreateGeom 3");
1497 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); 1497 SetGeom(SafeNativeMethods.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1498 m_expectedCollisionContacts = 4; 1498 m_expectedCollisionContacts = 4;
1499 } 1499 }
1500 catch (AccessViolationException) 1500 catch (AccessViolationException)
@@ -1510,7 +1510,7 @@ Console.WriteLine("CreateGeom:");
1510 try 1510 try
1511 { 1511 {
1512//Console.WriteLine(" CreateGeom 4"); 1512//Console.WriteLine(" CreateGeom 4");
1513 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); 1513 SetGeom(SafeNativeMethods.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1514 m_expectedCollisionContacts = 4; 1514 m_expectedCollisionContacts = 4;
1515 } 1515 }
1516 catch (AccessViolationException) 1516 catch (AccessViolationException)
@@ -1536,7 +1536,7 @@ Console.WriteLine("CreateGeom:");
1536 { 1536 {
1537 _parent_scene.geom_name_map.Remove(prim_geom); 1537 _parent_scene.geom_name_map.Remove(prim_geom);
1538 _parent_scene.actor_name_map.Remove(prim_geom); 1538 _parent_scene.actor_name_map.Remove(prim_geom);
1539 d.GeomDestroy(prim_geom); 1539 SafeNativeMethods.GeomDestroy(prim_geom);
1540 m_expectedCollisionContacts = 0; 1540 m_expectedCollisionContacts = 0;
1541 prim_geom = IntPtr.Zero; 1541 prim_geom = IntPtr.Zero;
1542 } 1542 }
@@ -1593,13 +1593,13 @@ Console.WriteLine("changeadd 1");
1593#endif 1593#endif
1594 CreateGeom(m_targetSpace, mesh); 1594 CreateGeom(m_targetSpace, mesh);
1595 1595
1596 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1596 SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1597 d.Quaternion myrot = new d.Quaternion(); 1597 SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
1598 myrot.X = _orientation.X; 1598 myrot.X = _orientation.X;
1599 myrot.Y = _orientation.Y; 1599 myrot.Y = _orientation.Y;
1600 myrot.Z = _orientation.Z; 1600 myrot.Z = _orientation.Z;
1601 myrot.W = _orientation.W; 1601 myrot.W = _orientation.W;
1602 d.GeomSetQuaternion(prim_geom, ref myrot); 1602 SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
1603 1603
1604 if (IsPhysical && Body == IntPtr.Zero) 1604 if (IsPhysical && Body == IntPtr.Zero)
1605 enableBody(); 1605 enableBody();
@@ -1627,14 +1627,14 @@ Console.WriteLine("changeadd 1");
1627 { 1627 {
1628 if (m_linkJoint != IntPtr.Zero) 1628 if (m_linkJoint != IntPtr.Zero)
1629 { 1629 {
1630 d.JointDestroy(m_linkJoint); 1630 SafeNativeMethods.JointDestroy(m_linkJoint);
1631 m_linkJoint = IntPtr.Zero; 1631 m_linkJoint = IntPtr.Zero;
1632 } 1632 }
1633 } 1633 }
1634 1634
1635 if (Body != IntPtr.Zero) 1635 if (Body != IntPtr.Zero)
1636 { 1636 {
1637 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); 1637 SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
1638 1638
1639 if (_parent != null) 1639 if (_parent != null)
1640 { 1640 {
@@ -1643,12 +1643,12 @@ Console.WriteLine("changeadd 1");
1643 { 1643 {
1644// KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used?? 1644// KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
1645Console.WriteLine(" JointCreateFixed"); 1645Console.WriteLine(" JointCreateFixed");
1646 m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup); 1646 m_linkJoint = SafeNativeMethods.JointCreateFixed(_parent_scene.world, _linkJointGroup);
1647 d.JointAttach(m_linkJoint, Body, odParent.Body); 1647 SafeNativeMethods.JointAttach(m_linkJoint, Body, odParent.Body);
1648 d.JointSetFixed(m_linkJoint); 1648 SafeNativeMethods.JointSetFixed(m_linkJoint);
1649 } 1649 }
1650 } 1650 }
1651 d.BodyEnable(Body); 1651 SafeNativeMethods.BodyEnable(Body);
1652 if (m_vehicle.Type != Vehicle.TYPE_NONE) 1652 if (m_vehicle.Type != Vehicle.TYPE_NONE)
1653 { 1653 {
1654 m_vehicle.Enable(Body, _parent_scene); 1654 m_vehicle.Enable(Body, _parent_scene);
@@ -1674,10 +1674,10 @@ Console.WriteLine(" JointCreateFixed");
1674 1674
1675// _parent_scene.waitForSpaceUnlock(m_targetSpace); 1675// _parent_scene.waitForSpaceUnlock(m_targetSpace);
1676 1676
1677 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1677 SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1678 1678
1679// _parent_scene.waitForSpaceUnlock(m_targetSpace); 1679// _parent_scene.waitForSpaceUnlock(m_targetSpace);
1680 d.SpaceAdd(m_targetSpace, prim_geom); 1680 SafeNativeMethods.SpaceAdd(m_targetSpace, prim_geom);
1681 1681
1682 changeSelectedStatus(); 1682 changeSelectedStatus();
1683 1683
@@ -1704,7 +1704,7 @@ Console.WriteLine(" JointCreateFixed");
1704 else 1704 else
1705 { 1705 {
1706//Console.WriteLine("Move " + Name); 1706//Console.WriteLine("Move " + Name);
1707 if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 1707 if (!SafeNativeMethods.BodyIsEnabled (Body)) SafeNativeMethods.BodyEnable (Body); // KF add 161009
1708 1708
1709 float m_mass = CalculateMass(); 1709 float m_mass = CalculateMass();
1710 1710
@@ -1746,9 +1746,9 @@ Console.WriteLine(" JointCreateFixed");
1746 //PidStatus = true; 1746 //PidStatus = true;
1747 1747
1748 // PhysicsVector vec = new PhysicsVector(); 1748 // PhysicsVector vec = new PhysicsVector();
1749 d.Vector3 vel = d.BodyGetLinearVel(Body); 1749 SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
1750 1750
1751 d.Vector3 pos = d.BodyGetPosition(Body); 1751 SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
1752 _target_velocity = 1752 _target_velocity =
1753 new Vector3( 1753 new Vector3(
1754 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), 1754 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
@@ -1770,9 +1770,9 @@ Console.WriteLine(" JointCreateFixed");
1770 //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); 1770 //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
1771 //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2); 1771 //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
1772 //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; 1772 //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
1773 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); 1773 SafeNativeMethods.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
1774 d.BodySetLinearVel(Body, 0, 0, 0); 1774 SafeNativeMethods.BodySetLinearVel(Body, 0, 0, 0);
1775 d.BodyAddForce(Body, 0, 0, fz); 1775 SafeNativeMethods.BodyAddForce(Body, 0, 0, fz);
1776 return; 1776 return;
1777 } 1777 }
1778 else 1778 else
@@ -1813,8 +1813,8 @@ Console.WriteLine(" JointCreateFixed");
1813 } 1813 }
1814 1814
1815 // Where are we, and where are we headed? 1815 // Where are we, and where are we headed?
1816 d.Vector3 pos = d.BodyGetPosition(Body); 1816 SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
1817 d.Vector3 vel = d.BodyGetLinearVel(Body); 1817 SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
1818 1818
1819 // Non-Vehicles have a limited set of Hover options. 1819 // Non-Vehicles have a limited set of Hover options.
1820 // determine what our target height really is based on HoverType 1820 // determine what our target height really is based on HoverType
@@ -1856,9 +1856,9 @@ Console.WriteLine(" JointCreateFixed");
1856 // Avatar to Avatar collisions 1856 // Avatar to Avatar collisions
1857 // Prim to avatar collisions 1857 // Prim to avatar collisions
1858 1858
1859 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); 1859 SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
1860 d.BodySetLinearVel(Body, vel.X, vel.Y, 0); 1860 SafeNativeMethods.BodySetLinearVel(Body, vel.X, vel.Y, 0);
1861 d.BodyAddForce(Body, 0, 0, fz); 1861 SafeNativeMethods.BodyAddForce(Body, 0, 0, fz);
1862 return; 1862 return;
1863 } 1863 }
1864 else 1864 else
@@ -1884,13 +1884,13 @@ Console.WriteLine(" JointCreateFixed");
1884 //m_taintdisable = true; 1884 //m_taintdisable = true;
1885 //base.RaiseOutOfBounds(Position); 1885 //base.RaiseOutOfBounds(Position);
1886 //d.BodySetLinearVel(Body, fx, fy, 0f); 1886 //d.BodySetLinearVel(Body, fx, fy, 0f);
1887 if (!d.BodyIsEnabled(Body)) 1887 if (!SafeNativeMethods.BodyIsEnabled(Body))
1888 { 1888 {
1889 // A physical body at rest on a surface will auto-disable after a while, 1889 // A physical body at rest on a surface will auto-disable after a while,
1890 // this appears to re-enable it incase the surface it is upon vanishes, 1890 // this appears to re-enable it incase the surface it is upon vanishes,
1891 // and the body should fall again. 1891 // and the body should fall again.
1892 d.BodySetLinearVel(Body, 0f, 0f, 0f); 1892 SafeNativeMethods.BodySetLinearVel(Body, 0f, 0f, 0f);
1893 d.BodySetForce(Body, 0, 0, 0); 1893 SafeNativeMethods.BodySetForce(Body, 0, 0, 0);
1894 enableBodySoft(); 1894 enableBodySoft();
1895 } 1895 }
1896 1896
@@ -1906,7 +1906,7 @@ Console.WriteLine(" JointCreateFixed");
1906 fy = nmax; 1906 fy = nmax;
1907 if (fy < nmin) 1907 if (fy < nmin)
1908 fy = nmin; 1908 fy = nmin;
1909 d.BodyAddForce(Body, fx, fy, fz); 1909 SafeNativeMethods.BodyAddForce(Body, fx, fy, fz);
1910//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); 1910//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
1911 } 1911 }
1912 } 1912 }
@@ -1922,7 +1922,7 @@ Console.WriteLine(" JointCreateFixed");
1922 1922
1923 private void rotate() 1923 private void rotate()
1924 { 1924 {
1925 d.Quaternion myrot = new d.Quaternion(); 1925 SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
1926 myrot.X = _orientation.X; 1926 myrot.X = _orientation.X;
1927 myrot.Y = _orientation.Y; 1927 myrot.Y = _orientation.Y;
1928 myrot.Z = _orientation.Z; 1928 myrot.Z = _orientation.Z;
@@ -1930,7 +1930,7 @@ Console.WriteLine(" JointCreateFixed");
1930 if (Body != IntPtr.Zero) 1930 if (Body != IntPtr.Zero)
1931 { 1931 {
1932 // KF: If this is a root prim do BodySet 1932 // KF: If this is a root prim do BodySet
1933 d.BodySetQuaternion(Body, ref myrot); 1933 SafeNativeMethods.BodySetQuaternion(Body, ref myrot);
1934 if (IsPhysical) 1934 if (IsPhysical)
1935 { 1935 {
1936 // create or remove locks 1936 // create or remove locks
@@ -1940,7 +1940,7 @@ Console.WriteLine(" JointCreateFixed");
1940 else 1940 else
1941 { 1941 {
1942 // daughter prim, do Geom set 1942 // daughter prim, do Geom set
1943 d.GeomSetQuaternion(prim_geom, ref myrot); 1943 SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
1944 } 1944 }
1945 1945
1946 resetCollisionAccounting(); 1946 resetCollisionAccounting();
@@ -1962,7 +1962,7 @@ Console.WriteLine(" JointCreateFixed");
1962 m_disabled = true; 1962 m_disabled = true;
1963 if (Body != IntPtr.Zero) 1963 if (Body != IntPtr.Zero)
1964 { 1964 {
1965 d.BodyDisable(Body); 1965 SafeNativeMethods.BodyDisable(Body);
1966 Body = IntPtr.Zero; 1966 Body = IntPtr.Zero;
1967 } 1967 }
1968 1968
@@ -2051,10 +2051,10 @@ Console.WriteLine(" JointCreateFixed");
2051 } 2051 }
2052 } 2052 }
2053 2053
2054 if (d.SpaceQuery(m_targetSpace, prim_geom)) 2054 if (SafeNativeMethods.SpaceQuery(m_targetSpace, prim_geom))
2055 { 2055 {
2056// _parent_scene.waitForSpaceUnlock(m_targetSpace); 2056// _parent_scene.waitForSpaceUnlock(m_targetSpace);
2057 d.SpaceRemove(m_targetSpace, prim_geom); 2057 SafeNativeMethods.SpaceRemove(m_targetSpace, prim_geom);
2058 } 2058 }
2059 2059
2060 RemoveGeom(); 2060 RemoveGeom();
@@ -2084,13 +2084,13 @@ Console.WriteLine(" JointCreateFixed");
2084 } 2084 }
2085 2085
2086 CreateGeom(m_targetSpace, mesh); 2086 CreateGeom(m_targetSpace, mesh);
2087 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 2087 SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2088 d.Quaternion myrot = new d.Quaternion(); 2088 SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
2089 myrot.X = _orientation.X; 2089 myrot.X = _orientation.X;
2090 myrot.Y = _orientation.Y; 2090 myrot.Y = _orientation.Y;
2091 myrot.Z = _orientation.Z; 2091 myrot.Z = _orientation.Z;
2092 myrot.W = _orientation.W; 2092 myrot.W = _orientation.W;
2093 d.GeomSetQuaternion(prim_geom, ref myrot); 2093 SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
2094 2094
2095 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); 2095 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
2096 if (IsPhysical && Body == IntPtr.Zero && !childPrim) 2096 if (IsPhysical && Body == IntPtr.Zero && !childPrim)
@@ -2098,7 +2098,7 @@ Console.WriteLine(" JointCreateFixed");
2098 // Re creates body on size. 2098 // Re creates body on size.
2099 // EnableBody also does setMass() 2099 // EnableBody also does setMass()
2100 enableBody(); 2100 enableBody();
2101 d.BodyEnable(Body); 2101 SafeNativeMethods.BodyEnable(Body);
2102 } 2102 }
2103 2103
2104 changeSelectedStatus(); 2104 changeSelectedStatus();
@@ -2133,10 +2133,10 @@ Console.WriteLine(" JointCreateFixed");
2133 } 2133 }
2134 2134
2135 if (m_assetFailed) 2135 if (m_assetFailed)
2136 d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits); 2136 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
2137 else 2137 else
2138 2138
2139 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); 2139 SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
2140 } 2140 }
2141 /// <summary> 2141 /// <summary>
2142 /// Change prim in response to a shape taint. 2142 /// Change prim in response to a shape taint.
@@ -2190,14 +2190,14 @@ Console.WriteLine(" JointCreateFixed");
2190 } 2190 }
2191 2191
2192 CreateGeom(m_targetSpace, mesh); 2192 CreateGeom(m_targetSpace, mesh);
2193 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 2193 SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2194 d.Quaternion myrot = new d.Quaternion(); 2194 SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
2195 //myrot.W = _orientation.w; 2195 //myrot.W = _orientation.w;
2196 myrot.W = _orientation.W; 2196 myrot.W = _orientation.W;
2197 myrot.X = _orientation.X; 2197 myrot.X = _orientation.X;
2198 myrot.Y = _orientation.Y; 2198 myrot.Y = _orientation.Y;
2199 myrot.Z = _orientation.Z; 2199 myrot.Z = _orientation.Z;
2200 d.GeomSetQuaternion(prim_geom, ref myrot); 2200 SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
2201 2201
2202 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); 2202 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
2203 if (IsPhysical && Body == IntPtr.Zero) 2203 if (IsPhysical && Body == IntPtr.Zero)
@@ -2207,7 +2207,7 @@ Console.WriteLine(" JointCreateFixed");
2207 enableBody(); 2207 enableBody();
2208 if (Body != IntPtr.Zero) 2208 if (Body != IntPtr.Zero)
2209 { 2209 {
2210 d.BodyEnable(Body); 2210 SafeNativeMethods.BodyEnable(Body);
2211 } 2211 }
2212 } 2212 }
2213 2213
@@ -2264,8 +2264,8 @@ Console.WriteLine(" JointCreateFixed");
2264 m_taintforce = false; 2264 m_taintforce = false;
2265 return; 2265 return;
2266 } 2266 }
2267 d.BodyEnable(Body); 2267 SafeNativeMethods.BodyEnable(Body);
2268 d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z); 2268 SafeNativeMethods.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
2269 } 2269 }
2270 m_forcelist.Clear(); 2270 m_forcelist.Clear();
2271 } 2271 }
@@ -2286,7 +2286,7 @@ Console.WriteLine(" JointCreateFixed");
2286 { 2286 {
2287 if (IsPhysical && Body != IntPtr.Zero) 2287 if (IsPhysical && Body != IntPtr.Zero)
2288 { 2288 {
2289 d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z); 2289 SafeNativeMethods.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
2290 } 2290 }
2291 } 2291 }
2292 2292
@@ -2310,8 +2310,8 @@ Console.WriteLine(" JointCreateFixed");
2310 { 2310 {
2311 iforce = iforce + (m_angularforcelist[i] * 100); 2311 iforce = iforce + (m_angularforcelist[i] * 100);
2312 } 2312 }
2313 d.BodyEnable(Body); 2313 SafeNativeMethods.BodyEnable(Body);
2314 d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z); 2314 SafeNativeMethods.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
2315 2315
2316 } 2316 }
2317 m_angularforcelist.Clear(); 2317 m_angularforcelist.Clear();
@@ -2339,7 +2339,7 @@ Console.WriteLine(" JointCreateFixed");
2339 { 2339 {
2340 if (Body != IntPtr.Zero) 2340 if (Body != IntPtr.Zero)
2341 { 2341 {
2342 d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); 2342 SafeNativeMethods.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
2343 } 2343 }
2344 } 2344 }
2345 2345
@@ -2665,7 +2665,7 @@ Console.WriteLine(" JointCreateFixed");
2665 } 2665 }
2666 */ 2666 */
2667 2667
2668 d.AllocateODEDataForThread(0U); 2668 SafeNativeMethods.AllocateODEDataForThread(0U);
2669 2669
2670 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); 2670 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
2671 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); 2671 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
@@ -2680,8 +2680,8 @@ Console.WriteLine(" JointCreateFixed");
2680 2680
2681 if (Body != IntPtr.Zero) 2681 if (Body != IntPtr.Zero)
2682 { 2682 {
2683 d.BodySetLinearVel(Body, 0, 0, 0); // stop it 2683 SafeNativeMethods.BodySetLinearVel(Body, 0, 0, 0); // stop it
2684 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); 2684 SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
2685 } 2685 }
2686 2686
2687 if(m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) 2687 if(m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
@@ -2728,11 +2728,11 @@ Console.WriteLine(" JointCreateFixed");
2728 float m_minvelocity = 0; 2728 float m_minvelocity = 0;
2729 if (Body != IntPtr.Zero) // FIXME -> or if it is a joint 2729 if (Body != IntPtr.Zero) // FIXME -> or if it is a joint
2730 { 2730 {
2731 d.Vector3 vec = d.BodyGetPosition(Body); 2731 SafeNativeMethods.Vector3 vec = SafeNativeMethods.BodyGetPosition(Body);
2732 d.Quaternion ori = d.BodyGetQuaternion(Body); 2732 SafeNativeMethods.Quaternion ori = SafeNativeMethods.BodyGetQuaternion(Body);
2733 d.Vector3 vel = d.BodyGetLinearVel(Body); 2733 SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
2734 d.Vector3 rotvel = d.BodyGetAngularVel(Body); 2734 SafeNativeMethods.Vector3 rotvel = SafeNativeMethods.BodyGetAngularVel(Body);
2735 d.Vector3 torque = d.BodyGetTorque(Body); 2735 SafeNativeMethods.Vector3 torque = SafeNativeMethods.BodyGetTorque(Body);
2736 _torque = new Vector3(torque.X, torque.Y, torque.Z); 2736 _torque = new Vector3(torque.X, torque.Y, torque.Z);
2737 Vector3 l_position = Vector3.Zero; 2737 Vector3 l_position = Vector3.Zero;
2738 Quaternion l_orientation = Quaternion.Identity; 2738 Quaternion l_orientation = Quaternion.Identity;
@@ -2812,11 +2812,11 @@ Console.WriteLine(" JointCreateFixed");
2812 else 2812 else
2813 Util.Clamp(l_position.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f); 2813 Util.Clamp(l_position.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
2814 2814
2815 d.BodySetPosition(Body, l_position.X, l_position.Y, l_position.Z); 2815 SafeNativeMethods.BodySetPosition(Body, l_position.X, l_position.Y, l_position.Z);
2816 2816
2817 // stop it 2817 // stop it
2818 d.BodySetAngularVel(Body, 0, 0, 0); 2818 SafeNativeMethods.BodySetAngularVel(Body, 0, 0, 0);
2819 d.BodySetLinearVel(Body, 0, 0, 0); 2819 SafeNativeMethods.BodySetLinearVel(Body, 0, 0, 0);
2820 disableBodySoft(); 2820 disableBodySoft();
2821 2821
2822 _position = l_position; 2822 _position = l_position;
@@ -3009,7 +3009,7 @@ Console.WriteLine(" JointCreateFixed");
3009 3009
3010 if (Amotor != IntPtr.Zero) 3010 if (Amotor != IntPtr.Zero)
3011 { 3011 {
3012 d.JointDestroy(Amotor); 3012 SafeNativeMethods.JointDestroy(Amotor);
3013 Amotor = IntPtr.Zero; 3013 Amotor = IntPtr.Zero;
3014 } 3014 }
3015 3015
@@ -3039,19 +3039,19 @@ Console.WriteLine(" JointCreateFixed");
3039 if(axisnum == 0) 3039 if(axisnum == 0)
3040 return; 3040 return;
3041 // stop it 3041 // stop it
3042 d.BodySetTorque(Body, 0, 0, 0); 3042 SafeNativeMethods.BodySetTorque(Body, 0, 0, 0);
3043 d.BodySetAngularVel(Body, 0, 0, 0); 3043 SafeNativeMethods.BodySetAngularVel(Body, 0, 0, 0);
3044 3044
3045 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); 3045 Amotor = SafeNativeMethods.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
3046 d.JointAttach(Amotor, Body, IntPtr.Zero); 3046 SafeNativeMethods.JointAttach(Amotor, Body, IntPtr.Zero);
3047 3047
3048 d.JointSetAMotorMode(Amotor, 0); 3048 SafeNativeMethods.JointSetAMotorMode(Amotor, 0);
3049 3049
3050 d.JointSetAMotorNumAxes(Amotor, axisnum); 3050 SafeNativeMethods.JointSetAMotorNumAxes(Amotor, axisnum);
3051 3051
3052 // get current orientation to lock 3052 // get current orientation to lock
3053 3053
3054 d.Quaternion dcur = d.BodyGetQuaternion(Body); 3054 SafeNativeMethods.Quaternion dcur = SafeNativeMethods.BodyGetQuaternion(Body);
3055 Quaternion curr; // crap convertion between identical things 3055 Quaternion curr; // crap convertion between identical things
3056 curr.X = dcur.X; 3056 curr.X = dcur.X;
3057 curr.Y = dcur.Y; 3057 curr.Y = dcur.Y;
@@ -3064,17 +3064,17 @@ Console.WriteLine(" JointCreateFixed");
3064 if (axisX) 3064 if (axisX)
3065 { 3065 {
3066 ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X 3066 ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
3067 d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); 3067 SafeNativeMethods.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
3068 d.JointSetAMotorAngle(Amotor, 0, 0); 3068 SafeNativeMethods.JointSetAMotorAngle(Amotor, 0, 0);
3069 d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, 0f); 3069 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.LoStop, 0f);
3070 d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0f); 3070 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.HiStop, 0f);
3071 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); 3071 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.Vel, 0);
3072 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); 3072 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.FudgeFactor, 0.0001f);
3073 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); 3073 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.Bounce, 0f);
3074 d.JointSetAMotorParam(Amotor, (int)d.JointParam.CFM, 0f); 3074 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.CFM, 0f);
3075 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); 3075 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.FMax, 5e8f);
3076 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f); 3076 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.StopCFM, 0f);
3077 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f); 3077 SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.StopERP, 0.8f);
3078 i++; 3078 i++;
3079 j = 256; // move to next axis set 3079 j = 256; // move to next axis set
3080 } 3080 }
@@ -3082,17 +3082,17 @@ Console.WriteLine(" JointCreateFixed");
3082 if (axisY) 3082 if (axisY)
3083 { 3083 {
3084 ax = (new Vector3(0, 1, 0)) * curr; 3084 ax = (new Vector3(0, 1, 0)) * curr;
3085 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); 3085 SafeNativeMethods.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
3086 d.JointSetAMotorAngle(Amotor, i, 0); 3086 SafeNativeMethods.JointSetAMotorAngle(Amotor, i, 0);
3087 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f); 3087 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.LoStop, 0f);
3088 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f); 3088 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.HiStop, 0f);
3089 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); 3089 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Vel, 0);
3090 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); 3090 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FudgeFactor, 0.0001f);
3091 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); 3091 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Bounce, 0f);
3092 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.CFM, 0f); 3092 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.CFM, 0f);
3093 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); 3093 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FMax, 5e8f);
3094 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); 3094 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopCFM, 0f);
3095 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); 3095 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopERP, 0.8f);
3096 i++; 3096 i++;
3097 j += 256; 3097 j += 256;
3098 } 3098 }
@@ -3100,17 +3100,17 @@ Console.WriteLine(" JointCreateFixed");
3100 if (axisZ) 3100 if (axisZ)
3101 { 3101 {
3102 ax = (new Vector3(0, 0, 1)) * curr; 3102 ax = (new Vector3(0, 0, 1)) * curr;
3103 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); 3103 SafeNativeMethods.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
3104 d.JointSetAMotorAngle(Amotor, i, 0); 3104 SafeNativeMethods.JointSetAMotorAngle(Amotor, i, 0);
3105 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f); 3105 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.LoStop, 0f);
3106 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f); 3106 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.HiStop, 0f);
3107 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); 3107 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Vel, 0);
3108 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); 3108 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FudgeFactor, 0.0001f);
3109 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); 3109 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Bounce, 0f);
3110 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.CFM, 0f); 3110 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.CFM, 0f);
3111 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); 3111 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FMax, 5e8f);
3112 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); 3112 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopCFM, 0f);
3113 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); 3113 SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopERP, 0.8f);
3114 } 3114 }
3115 } 3115 }
3116 3116
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
index 78dd7de..c731c6c 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
@@ -61,12 +61,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
61 /// <summary> 61 /// <summary>
62 /// ODE contact array to be filled by the collision testing 62 /// ODE contact array to be filled by the collision testing
63 /// </summary> 63 /// </summary>
64 d.ContactGeom[] contacts = new d.ContactGeom[5]; 64 SafeNativeMethods.ContactGeom[] contacts = new SafeNativeMethods.ContactGeom[5];
65 65
66 /// <summary> 66 /// <summary>
67 /// ODE near callback delegate 67 /// ODE near callback delegate
68 /// </summary> 68 /// </summary>
69 private d.NearCallback nearCallback; 69 private SafeNativeMethods.NearCallback nearCallback;
70 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 70 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
71 private List<ContactResult> m_contactResults = new List<ContactResult>(); 71 private List<ContactResult> m_contactResults = new List<ContactResult>();
72 72
@@ -179,14 +179,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
179 len = 100f; 179 len = 100f;
180 180
181 // Create the ray 181 // Create the ray
182 IntPtr ray = d.CreateRay(m_scene.space, len); 182 IntPtr ray = SafeNativeMethods.CreateRay(m_scene.space, len);
183 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z); 183 SafeNativeMethods.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
184 184
185 // Collide test 185 // Collide test
186 d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback); 186 SafeNativeMethods.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
187 187
188 // Remove Ray 188 // Remove Ray
189 d.GeomDestroy(ray); 189 SafeNativeMethods.GeomDestroy(ray);
190 190
191 // Define default results 191 // Define default results
192 bool hitYN = false; 192 bool hitYN = false;
@@ -230,14 +230,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
230 len = 100f; 230 len = 100f;
231 231
232 // Create the ray 232 // Create the ray
233 IntPtr ray = d.CreateRay(m_scene.space, len); 233 IntPtr ray = SafeNativeMethods.CreateRay(m_scene.space, len);
234 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z); 234 SafeNativeMethods.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
235 235
236 // Collide test 236 // Collide test
237 d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback); 237 SafeNativeMethods.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
238 238
239 // Remove Ray 239 // Remove Ray
240 d.GeomDestroy(ray); 240 SafeNativeMethods.GeomDestroy(ray);
241 241
242 // Find closest contact and object. 242 // Find closest contact and object.
243 lock (m_contactResults) 243 lock (m_contactResults)
@@ -258,7 +258,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
258// return; 258// return;
259 259
260 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms. 260 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
261 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2)) 261 if (SafeNativeMethods.GeomIsSpace(g1) || SafeNativeMethods.GeomIsSpace(g2))
262 { 262 {
263 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) 263 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
264 return; 264 return;
@@ -269,7 +269,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
269 // contact points in the space 269 // contact points in the space
270 try 270 try
271 { 271 {
272 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback); 272 SafeNativeMethods.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
273 } 273 }
274 catch (AccessViolationException) 274 catch (AccessViolationException)
275 { 275 {
@@ -296,7 +296,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
296 296
297 lock (contacts) 297 lock (contacts)
298 { 298 {
299 count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.unmanagedSizeOf); 299 count = SafeNativeMethods.Collide(g1, g2, contacts.GetLength(0), contacts, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
300 } 300 }
301 } 301 }
302 catch (SEHException) 302 catch (SEHException)
diff --git a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
index d15568e..e760fa2 100644
--- a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
@@ -336,9 +336,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
336 336
337 private bool m_filterCollisions = true; 337 private bool m_filterCollisions = true;
338 338
339 private d.NearCallback nearCallback; 339 private SafeNativeMethods.NearCallback nearCallback;
340 public d.TriCallback triCallback;
341 public d.TriArrayCallback triArrayCallback;
342 340
343 /// <summary> 341 /// <summary>
344 /// Avatars in the physics scene. 342 /// Avatars in the physics scene.
@@ -368,7 +366,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
368 /// <summary> 366 /// <summary>
369 /// Keep record of contacts in the physics loop so that we can remove duplicates. 367 /// Keep record of contacts in the physics loop so that we can remove duplicates.
370 /// </summary> 368 /// </summary>
371 private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>(); 369 private readonly List<SafeNativeMethods.ContactGeom> _perloopContact = new List<SafeNativeMethods.ContactGeom>();
372 370
373 /// <summary> 371 /// <summary>
374 /// A dictionary of actors that should receive collision events. 372 /// A dictionary of actors that should receive collision events.
@@ -409,7 +407,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
409 private bool m_NINJA_physics_joints_enabled = false; 407 private bool m_NINJA_physics_joints_enabled = false;
410 //private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>(); 408 //private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
411 private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>(); 409 private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
412 private d.ContactGeom[] contacts; 410 private SafeNativeMethods.ContactGeom[] contacts;
413 411
414 /// <summary> 412 /// <summary>
415 /// Lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active 413 /// 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
437 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>(); 435 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
438 private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>(); 436 private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
439 437
440 private d.Contact contact; 438 private SafeNativeMethods.Contact contact;
441 private d.Contact TerrainContact; 439 private SafeNativeMethods.Contact TerrainContact;
442 private d.Contact AvatarMovementprimContact; 440 private SafeNativeMethods.Contact AvatarMovementprimContact;
443 private d.Contact AvatarMovementTerrainContact; 441 private SafeNativeMethods.Contact AvatarMovementTerrainContact;
444 private d.Contact WaterContact; 442 private SafeNativeMethods.Contact WaterContact;
445 private d.Contact[,] m_materialContacts; 443 private SafeNativeMethods.Contact[,] m_materialContacts;
446 444
447 private int m_physicsiterations = 10; 445 private int m_physicsiterations = 10;
448 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag 446 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
@@ -480,8 +478,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
480 private bool avplanted = false; 478 private bool avplanted = false;
481 private bool av_av_collisions_off = false; 479 private bool av_av_collisions_off = false;
482 480
483 public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f); 481 internal SafeNativeMethods.Vector3 xyz = new SafeNativeMethods.Vector3(128.1640f, 128.3079f, 25.7600f);
484 public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f); 482 internal SafeNativeMethods.Vector3 hpr = new SafeNativeMethods.Vector3(125.5000f, -17.0000f, 0.0000f);
485 483
486 private volatile int m_global_contactcount = 0; 484 private volatile int m_global_contactcount = 0;
487 485
@@ -544,12 +542,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
544 m_rayCastManager = new ODERayCastRequestManager(this); 542 m_rayCastManager = new ODERayCastRequestManager(this);
545 543
546 // Create the world and the first space 544 // Create the world and the first space
547 world = d.WorldCreate(); 545 world = SafeNativeMethods.WorldCreate();
548 space = d.HashSpaceCreate(IntPtr.Zero); 546 space = SafeNativeMethods.HashSpaceCreate(IntPtr.Zero);
547 contactgroup = SafeNativeMethods.JointGroupCreate(0);
549 548
550 contactgroup = d.JointGroupCreate(0); 549 SafeNativeMethods.WorldSetAutoDisableFlag(world, false);
551
552 d.WorldSetAutoDisableFlag(world, false);
553 } 550 }
554 551
555 // Initialize from configs 552 // Initialize from configs
@@ -651,7 +648,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
651 } 648 }
652 } 649 }
653 650
654 contacts = new d.ContactGeom[contactsPerCollision]; 651 contacts = new SafeNativeMethods.ContactGeom[contactsPerCollision];
655 652
656 spacesPerMeterX = 1.0f / metersInSpace; 653 spacesPerMeterX = 1.0f / metersInSpace;
657 spacesPerMeterY = 1.0f / metersInSpace; 654 spacesPerMeterY = 1.0f / metersInSpace;
@@ -680,7 +677,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
680 // Centeral contact friction and bounce 677 // Centeral contact friction and bounce
681 // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why 678 // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
682 // an avatar falls through in Z but not in X or Y when walking on a prim. 679 // an avatar falls through in Z but not in X or Y when walking on a prim.
683 contact.surface.mode |= d.ContactFlags.SoftERP; 680 contact.surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
684 contact.surface.mu = nmAvatarObjectContactFriction; 681 contact.surface.mu = nmAvatarObjectContactFriction;
685 contact.surface.bounce = nmAvatarObjectContactBounce; 682 contact.surface.bounce = nmAvatarObjectContactBounce;
686 contact.surface.soft_cfm = 0.010f; 683 contact.surface.soft_cfm = 0.010f;
@@ -689,12 +686,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
689 // Terrain contact friction and Bounce 686 // Terrain contact friction and Bounce
690 // This is the *non* moving version. Use this when an avatar 687 // This is the *non* moving version. Use this when an avatar
691 // isn't moving to keep it in place better 688 // isn't moving to keep it in place better
692 TerrainContact.surface.mode |= d.ContactFlags.SoftERP; 689 TerrainContact.surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
693 TerrainContact.surface.mu = nmTerrainContactFriction; 690 TerrainContact.surface.mu = nmTerrainContactFriction;
694 TerrainContact.surface.bounce = nmTerrainContactBounce; 691 TerrainContact.surface.bounce = nmTerrainContactBounce;
695 TerrainContact.surface.soft_erp = nmTerrainContactERP; 692 TerrainContact.surface.soft_erp = nmTerrainContactERP;
696 693
697 WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM); 694 WaterContact.surface.mode |= (SafeNativeMethods.ContactFlags.SoftERP | SafeNativeMethods.ContactFlags.SoftCFM);
698 WaterContact.surface.mu = 0f; // No friction 695 WaterContact.surface.mu = 0f; // No friction
699 WaterContact.surface.bounce = 0.0f; // No bounce 696 WaterContact.surface.bounce = 0.0f; // No bounce
700 WaterContact.surface.soft_cfm = 0.010f; 697 WaterContact.surface.soft_cfm = 0.010f;
@@ -709,7 +706,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
709 706
710 // Terrain contact friction bounce and various error correcting calculations 707 // Terrain contact friction bounce and various error correcting calculations
711 // Use this when an avatar is in contact with the terrain and moving. 708 // Use this when an avatar is in contact with the terrain and moving.
712 AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP; 709 AvatarMovementTerrainContact.surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
713 AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction; 710 AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
714 AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce; 711 AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
715 AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP; 712 AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
@@ -731,38 +728,38 @@ namespace OpenSim.Region.PhysicsModule.ODE
731 Rubber = 6 728 Rubber = 6
732 */ 729 */
733 730
734 m_materialContacts = new d.Contact[7,2]; 731 m_materialContacts = new SafeNativeMethods.Contact[7,2];
735 732
736 m_materialContacts[(int)Material.Stone, 0] = new d.Contact(); 733 m_materialContacts[(int)Material.Stone, 0] = new SafeNativeMethods.Contact();
737 m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP; 734 m_materialContacts[(int)Material.Stone, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
738 m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction; 735 m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction;
739 m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce; 736 m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce;
740 m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f; 737 m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f;
741 m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f; 738 m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f;
742 739
743 m_materialContacts[(int)Material.Stone, 1] = new d.Contact(); 740 m_materialContacts[(int)Material.Stone, 1] = new SafeNativeMethods.Contact();
744 m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP; 741 m_materialContacts[(int)Material.Stone, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
745 m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction; 742 m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction;
746 m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce; 743 m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce;
747 m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f; 744 m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f;
748 m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f; 745 m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f;
749 746
750 m_materialContacts[(int)Material.Metal, 0] = new d.Contact(); 747 m_materialContacts[(int)Material.Metal, 0] = new SafeNativeMethods.Contact();
751 m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP; 748 m_materialContacts[(int)Material.Metal, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
752 m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction; 749 m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction;
753 m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce; 750 m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce;
754 m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f; 751 m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f;
755 m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f; 752 m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f;
756 753
757 m_materialContacts[(int)Material.Metal, 1] = new d.Contact(); 754 m_materialContacts[(int)Material.Metal, 1] = new SafeNativeMethods.Contact();
758 m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP; 755 m_materialContacts[(int)Material.Metal, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
759 m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction; 756 m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction;
760 m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce; 757 m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce;
761 m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f; 758 m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f;
762 m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f; 759 m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f;
763 760
764 m_materialContacts[(int)Material.Glass, 0] = new d.Contact(); 761 m_materialContacts[(int)Material.Glass, 0] = new SafeNativeMethods.Contact();
765 m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP; 762 m_materialContacts[(int)Material.Glass, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
766 m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f; 763 m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f;
767 m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f; 764 m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f;
768 m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f; 765 m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f;
@@ -775,83 +772,83 @@ namespace OpenSim.Region.PhysicsModule.ODE
775 private float mAvatarObjectContactFriction = 75f; 772 private float mAvatarObjectContactFriction = 75f;
776 private float mAvatarObjectContactBounce = 0.1f; 773 private float mAvatarObjectContactBounce = 0.1f;
777 */ 774 */
778 m_materialContacts[(int)Material.Glass, 1] = new d.Contact(); 775 m_materialContacts[(int)Material.Glass, 1] = new SafeNativeMethods.Contact();
779 m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP; 776 m_materialContacts[(int)Material.Glass, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
780 m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f; 777 m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f;
781 m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f; 778 m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f;
782 m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f; 779 m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f;
783 m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f; 780 m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f;
784 781
785 m_materialContacts[(int)Material.Wood, 0] = new d.Contact(); 782 m_materialContacts[(int)Material.Wood, 0] = new SafeNativeMethods.Contact();
786 m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP; 783 m_materialContacts[(int)Material.Wood, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
787 m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction; 784 m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction;
788 m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce; 785 m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce;
789 m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f; 786 m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f;
790 m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f; 787 m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f;
791 788
792 m_materialContacts[(int)Material.Wood, 1] = new d.Contact(); 789 m_materialContacts[(int)Material.Wood, 1] = new SafeNativeMethods.Contact();
793 m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP; 790 m_materialContacts[(int)Material.Wood, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
794 m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction; 791 m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction;
795 m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce; 792 m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce;
796 m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f; 793 m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f;
797 m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f; 794 m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f;
798 795
799 m_materialContacts[(int)Material.Flesh, 0] = new d.Contact(); 796 m_materialContacts[(int)Material.Flesh, 0] = new SafeNativeMethods.Contact();
800 m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP; 797 m_materialContacts[(int)Material.Flesh, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
801 m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction; 798 m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction;
802 m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce; 799 m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce;
803 m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f; 800 m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f;
804 m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f; 801 m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f;
805 802
806 m_materialContacts[(int)Material.Flesh, 1] = new d.Contact(); 803 m_materialContacts[(int)Material.Flesh, 1] = new SafeNativeMethods.Contact();
807 m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP; 804 m_materialContacts[(int)Material.Flesh, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
808 m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction; 805 m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction;
809 m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce; 806 m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce;
810 m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f; 807 m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f;
811 m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f; 808 m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f;
812 809
813 m_materialContacts[(int)Material.Plastic, 0] = new d.Contact(); 810 m_materialContacts[(int)Material.Plastic, 0] = new SafeNativeMethods.Contact();
814 m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP; 811 m_materialContacts[(int)Material.Plastic, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
815 m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction; 812 m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction;
816 m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce; 813 m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce;
817 m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f; 814 m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f;
818 m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f; 815 m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f;
819 816
820 m_materialContacts[(int)Material.Plastic, 1] = new d.Contact(); 817 m_materialContacts[(int)Material.Plastic, 1] = new SafeNativeMethods.Contact();
821 m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP; 818 m_materialContacts[(int)Material.Plastic, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
822 m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction; 819 m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction;
823 m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce; 820 m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce;
824 m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f; 821 m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f;
825 m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f; 822 m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f;
826 823
827 m_materialContacts[(int)Material.Rubber, 0] = new d.Contact(); 824 m_materialContacts[(int)Material.Rubber, 0] = new SafeNativeMethods.Contact();
828 m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP; 825 m_materialContacts[(int)Material.Rubber, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
829 m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction; 826 m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction;
830 m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce; 827 m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce;
831 m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f; 828 m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f;
832 m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f; 829 m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f;
833 830
834 m_materialContacts[(int)Material.Rubber, 1] = new d.Contact(); 831 m_materialContacts[(int)Material.Rubber, 1] = new SafeNativeMethods.Contact();
835 m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP; 832 m_materialContacts[(int)Material.Rubber, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
836 m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction; 833 m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction;
837 m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce; 834 m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce;
838 m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f; 835 m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f;
839 m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f; 836 m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f;
840 837
841 d.HashSpaceSetLevels(space, HashspaceLow, HashspaceHigh); 838 SafeNativeMethods.HashSpaceSetLevels(space, HashspaceLow, HashspaceHigh);
842 839
843 // Set the gravity,, don't disable things automatically (we set it explicitly on some things) 840 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
844 841
845 d.WorldSetGravity(world, gravityx, gravityy, gravityz); 842 SafeNativeMethods.WorldSetGravity(world, gravityx, gravityy, gravityz);
846 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer); 843 SafeNativeMethods.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
847 844
848 d.WorldSetLinearDamping(world, 256f); 845 SafeNativeMethods.WorldSetLinearDamping(world, 256f);
849 d.WorldSetAngularDamping(world, 256f); 846 SafeNativeMethods.WorldSetAngularDamping(world, 256f);
850 d.WorldSetAngularDampingThreshold(world, 256f); 847 SafeNativeMethods.WorldSetAngularDampingThreshold(world, 256f);
851 d.WorldSetLinearDampingThreshold(world, 256f); 848 SafeNativeMethods.WorldSetLinearDampingThreshold(world, 256f);
852 d.WorldSetMaxAngularSpeed(world, 256f); 849 SafeNativeMethods.WorldSetMaxAngularSpeed(world, 256f);
853 850
854 d.WorldSetQuickStepNumIterations(world, m_physicsiterations); 851 SafeNativeMethods.WorldSetQuickStepNumIterations(world, m_physicsiterations);
855 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f); 852 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
856 853
857 for (int i = 0; i < staticPrimspace.GetLength(0); i++) 854 for (int i = 0; i < staticPrimspace.GetLength(0); i++)
@@ -877,7 +874,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
877 /// <param name='contactsArray'></param> 874 /// <param name='contactsArray'></param>
878 /// <param name='contactGeomSize'></param> 875 /// <param name='contactGeomSize'></param>
879 private int CollideGeoms( 876 private int CollideGeoms(
880 IntPtr geom1, IntPtr geom2, int maxContacts, d.ContactGeom[] contactsArray, int contactGeomSize) 877 IntPtr geom1, IntPtr geom2, int maxContacts, SafeNativeMethods.ContactGeom[] contactsArray, int contactGeomSize)
881 { 878 {
882 int count; 879 int count;
883 880
@@ -887,7 +884,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
887 if (CollectStats) 884 if (CollectStats)
888 m_nativeCollisionStartTick = Util.EnvironmentTickCount(); 885 m_nativeCollisionStartTick = Util.EnvironmentTickCount();
889 886
890 count = d.Collide(geom1, geom2, maxContacts, contactsArray, contactGeomSize); 887 count = SafeNativeMethods.Collide(geom1, geom2, maxContacts, contactsArray, contactGeomSize);
891 } 888 }
892 889
893 // We do this outside the lock so that any waiting threads aren't held up, though the effect is probably 890 // 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
913 m_nativeCollisionStartTick = Util.EnvironmentTickCount(); 910 m_nativeCollisionStartTick = Util.EnvironmentTickCount();
914 } 911 }
915 912
916 d.SpaceCollide2(space1, space2, data, nearCallback); 913 SafeNativeMethods.SpaceCollide2(space1, space2, data, nearCallback);
917 914
918 if (CollectStats && m_inCollisionTiming) 915 if (CollectStats && m_inCollisionTiming)
919 { 916 {
@@ -944,7 +941,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
944 // Test if we're colliding a geom with a space. 941 // Test if we're colliding a geom with a space.
945 // If so we have to drill down into the space recursively 942 // If so we have to drill down into the space recursively
946 943
947 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2)) 944 if (SafeNativeMethods.GeomIsSpace(g1) || SafeNativeMethods.GeomIsSpace(g2))
948 { 945 {
949 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) 946 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
950 return; 947 return;
@@ -973,8 +970,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
973 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) 970 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
974 return; 971 return;
975 972
976 IntPtr b1 = d.GeomGetBody(g1); 973 IntPtr b1 = SafeNativeMethods.GeomGetBody(g1);
977 IntPtr b2 = d.GeomGetBody(g2); 974 IntPtr b2 = SafeNativeMethods.GeomGetBody(g2);
978 975
979 // d.GeomClassID id = d.GeomGetClass(g1); 976 // d.GeomClassID id = d.GeomGetClass(g1);
980 977
@@ -1001,10 +998,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
1001 if (g1 == g2) 998 if (g1 == g2)
1002 return; // Can't collide with yourself 999 return; // Can't collide with yourself
1003 1000
1004 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) 1001 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && SafeNativeMethods.AreConnectedExcluding(b1, b2, SafeNativeMethods.JointType.Contact))
1005 return; 1002 return;
1006 1003
1007 count = CollideGeoms(g1, g2, contacts.Length, contacts, d.ContactGeom.unmanagedSizeOf); 1004 count = CollideGeoms(g1, g2, contacts.Length, contacts, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
1008 1005
1009 // All code after this is only relevant if we have any collisions 1006 // All code after this is only relevant if we have any collisions
1010 if (count <= 0) 1007 if (count <= 0)
@@ -1052,7 +1049,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1052 1049
1053 for (int i = 0; i < count; i++) 1050 for (int i = 0; i < count; i++)
1054 { 1051 {
1055 d.ContactGeom curContact = contacts[i]; 1052 SafeNativeMethods.ContactGeom curContact = contacts[i];
1056 1053
1057 if (curContact.depth > maxDepthContact.PenetrationDepth) 1054 if (curContact.depth > maxDepthContact.PenetrationDepth)
1058 { 1055 {
@@ -1129,7 +1126,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1129 curContact.depth = 0.00000003f; 1126 curContact.depth = 0.00000003f;
1130 p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f); 1127 p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
1131 curContact.pos = 1128 curContact.pos =
1132 new d.Vector3(curContact.pos.X + (p1.Size.X/2), 1129 new SafeNativeMethods.Vector3(curContact.pos.X + (p1.Size.X/2),
1133 curContact.pos.Y + (p1.Size.Y/2), 1130 curContact.pos.Y + (p1.Size.Y/2),
1134 curContact.pos.Z + (p1.Size.Z/2)); 1131 curContact.pos.Z + (p1.Size.Z/2));
1135 character.SetPidStatus(true); 1132 character.SetPidStatus(true);
@@ -1146,7 +1143,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1146 curContact.depth = 0.00000003f; 1143 curContact.depth = 0.00000003f;
1147 p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f); 1144 p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
1148 curContact.pos = 1145 curContact.pos =
1149 new d.Vector3(curContact.pos.X + (p1.Size.X/2), 1146 new SafeNativeMethods.Vector3(curContact.pos.X + (p1.Size.X/2),
1150 curContact.pos.Y + (p1.Size.Y/2), 1147 curContact.pos.Y + (p1.Size.Y/2),
1151 curContact.pos.Z + (p1.Size.Z/2)); 1148 curContact.pos.Z + (p1.Size.Z/2));
1152 character.SetPidStatus(true); 1149 character.SetPidStatus(true);
@@ -1198,7 +1195,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1198 1195
1199 if (m_global_contactcount < maxContactsbeforedeath) 1196 if (m_global_contactcount < maxContactsbeforedeath)
1200 { 1197 {
1201 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact); 1198 joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
1202 m_global_contactcount++; 1199 m_global_contactcount++;
1203 } 1200 }
1204 } 1201 }
@@ -1212,7 +1209,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1212 1209
1213 if (m_global_contactcount < maxContactsbeforedeath) 1210 if (m_global_contactcount < maxContactsbeforedeath)
1214 { 1211 {
1215 joint = d.JointCreateContact(world, contactgroup, ref TerrainContact); 1212 joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref TerrainContact);
1216 m_global_contactcount++; 1213 m_global_contactcount++;
1217 } 1214 }
1218 } 1215 }
@@ -1247,7 +1244,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1247 1244
1248 if (m_global_contactcount < maxContactsbeforedeath) 1245 if (m_global_contactcount < maxContactsbeforedeath)
1249 { 1246 {
1250 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]); 1247 joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1251 m_global_contactcount++; 1248 m_global_contactcount++;
1252 } 1249 }
1253 } 1250 }
@@ -1273,7 +1270,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1273 1270
1274 if (m_global_contactcount < maxContactsbeforedeath) 1271 if (m_global_contactcount < maxContactsbeforedeath)
1275 { 1272 {
1276 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]); 1273 joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1277 m_global_contactcount++; 1274 m_global_contactcount++;
1278 } 1275 }
1279 } 1276 }
@@ -1307,7 +1304,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1307 1304
1308 if (m_global_contactcount < maxContactsbeforedeath) 1305 if (m_global_contactcount < maxContactsbeforedeath)
1309 { 1306 {
1310 joint = d.JointCreateContact(world, contactgroup, ref WaterContact); 1307 joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref WaterContact);
1311 m_global_contactcount++; 1308 m_global_contactcount++;
1312 } 1309 }
1313 //m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth); 1310 //m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth);
@@ -1324,7 +1321,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1324 1321
1325 if (m_global_contactcount < maxContactsbeforedeath) 1322 if (m_global_contactcount < maxContactsbeforedeath)
1326 { 1323 {
1327 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact); 1324 joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
1328 m_global_contactcount++; 1325 m_global_contactcount++;
1329 } 1326 }
1330 } 1327 }
@@ -1335,7 +1332,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1335 1332
1336 if (m_global_contactcount < maxContactsbeforedeath) 1333 if (m_global_contactcount < maxContactsbeforedeath)
1337 { 1334 {
1338 joint = d.JointCreateContact(world, contactgroup, ref contact); 1335 joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref contact);
1339 m_global_contactcount++; 1336 m_global_contactcount++;
1340 } 1337 }
1341 } 1338 }
@@ -1356,7 +1353,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1356 1353
1357 if (m_global_contactcount < maxContactsbeforedeath) 1354 if (m_global_contactcount < maxContactsbeforedeath)
1358 { 1355 {
1359 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]); 1356 joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]);
1360 m_global_contactcount++; 1357 m_global_contactcount++;
1361 } 1358 }
1362 } 1359 }
@@ -1364,7 +1361,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1364 1361
1365 if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide! 1362 if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
1366 { 1363 {
1367 d.JointAttach(joint, b1, b2); 1364 SafeNativeMethods.JointAttach(joint, b1, b2);
1368 m_global_contactcount++; 1365 m_global_contactcount++;
1369 } 1366 }
1370 } 1367 }
@@ -1384,7 +1381,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1384 } 1381 }
1385 } 1382 }
1386 1383
1387 private bool checkDupe(d.ContactGeom contactGeom, int atype) 1384 private bool checkDupe(SafeNativeMethods.ContactGeom contactGeom, int atype)
1388 { 1385 {
1389 if (!m_filterCollisions) 1386 if (!m_filterCollisions)
1390 return false; 1387 return false;
@@ -1393,7 +1390,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1393 1390
1394 ActorTypes at = (ActorTypes)atype; 1391 ActorTypes at = (ActorTypes)atype;
1395 1392
1396 foreach (d.ContactGeom contact in _perloopContact) 1393 foreach (SafeNativeMethods.ContactGeom contact in _perloopContact)
1397 { 1394 {
1398 //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2)) 1395 //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
1399 //{ 1396 //{
@@ -1580,7 +1577,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1580 List<OdePrim> removeprims = null; 1577 List<OdePrim> removeprims = null;
1581 foreach (OdePrim chr in _activeprims) 1578 foreach (OdePrim chr in _activeprims)
1582 { 1579 {
1583 if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled)) 1580 if (chr.Body != IntPtr.Zero && SafeNativeMethods.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
1584 { 1581 {
1585 try 1582 try
1586 { 1583 {
@@ -1706,7 +1703,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1706 1703
1707 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying) 1704 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
1708 { 1705 {
1709 d.AllocateODEDataForThread(0); 1706 SafeNativeMethods.AllocateODEDataForThread(0);
1710 1707
1711 OdeCharacter newAv 1708 OdeCharacter newAv
1712 = new OdeCharacter( 1709 = new OdeCharacter(
@@ -1729,7 +1726,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1729 1726
1730 lock (OdeLock) 1727 lock (OdeLock)
1731 { 1728 {
1732 d.AllocateODEDataForThread(0); 1729 SafeNativeMethods.AllocateODEDataForThread(0);
1733 1730
1734 ((OdeCharacter) actor).Destroy(); 1731 ((OdeCharacter) actor).Destroy();
1735 } 1732 }
@@ -1786,7 +1783,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1786 OdePrim newPrim; 1783 OdePrim newPrim;
1787 lock (OdeLock) 1784 lock (OdeLock)
1788 { 1785 {
1789 d.AllocateODEDataForThread(0); 1786 SafeNativeMethods.AllocateODEDataForThread(0);
1790 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical); 1787 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical);
1791 1788
1792 lock (_prims) 1789 lock (_prims)
@@ -1950,7 +1947,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1950 DoJointDeactivated(joint); 1947 DoJointDeactivated(joint);
1951 if (joint.jointID != IntPtr.Zero) 1948 if (joint.jointID != IntPtr.Zero)
1952 { 1949 {
1953 d.JointDestroy(joint.jointID); 1950 SafeNativeMethods.JointDestroy(joint.jointID);
1954 joint.jointID = IntPtr.Zero; 1951 joint.jointID = IntPtr.Zero;
1955 //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName); 1952 //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
1956 } 1953 }
@@ -2115,7 +2112,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2115 public override Vector3 GetJointAnchor(PhysicsJoint joint) 2112 public override Vector3 GetJointAnchor(PhysicsJoint joint)
2116 { 2113 {
2117 Debug.Assert(joint.IsInPhysicsEngine); 2114 Debug.Assert(joint.IsInPhysicsEngine);
2118 d.Vector3 pos = new d.Vector3(); 2115 SafeNativeMethods.Vector3 pos = new SafeNativeMethods.Vector3();
2119 2116
2120 if (!(joint is OdePhysicsJoint)) 2117 if (!(joint is OdePhysicsJoint))
2121 { 2118 {
@@ -2127,10 +2124,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
2127 switch (odeJoint.Type) 2124 switch (odeJoint.Type)
2128 { 2125 {
2129 case PhysicsJointType.Ball: 2126 case PhysicsJointType.Ball:
2130 d.JointGetBallAnchor(odeJoint.jointID, out pos); 2127 SafeNativeMethods.JointGetBallAnchor(odeJoint.jointID, out pos);
2131 break; 2128 break;
2132 case PhysicsJointType.Hinge: 2129 case PhysicsJointType.Hinge:
2133 d.JointGetHingeAnchor(odeJoint.jointID, out pos); 2130 SafeNativeMethods.JointGetHingeAnchor(odeJoint.jointID, out pos);
2134 break; 2131 break;
2135 } 2132 }
2136 } 2133 }
@@ -2151,7 +2148,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2151 public override Vector3 GetJointAxis(PhysicsJoint joint) 2148 public override Vector3 GetJointAxis(PhysicsJoint joint)
2152 { 2149 {
2153 Debug.Assert(joint.IsInPhysicsEngine); 2150 Debug.Assert(joint.IsInPhysicsEngine);
2154 d.Vector3 axis = new d.Vector3(); 2151 SafeNativeMethods.Vector3 axis = new SafeNativeMethods.Vector3();
2155 2152
2156 if (!(joint is OdePhysicsJoint)) 2153 if (!(joint is OdePhysicsJoint))
2157 { 2154 {
@@ -2166,7 +2163,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2166 DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene); 2163 DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
2167 break; 2164 break;
2168 case PhysicsJointType.Hinge: 2165 case PhysicsJointType.Hinge:
2169 d.JointGetHingeAxis(odeJoint.jointID, out axis); 2166 SafeNativeMethods.JointGetHingeAxis(odeJoint.jointID, out axis);
2170 break; 2167 break;
2171 } 2168 }
2172 } 2169 }
@@ -2299,12 +2296,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
2299 //{ 2296 //{
2300 //int adfadf = 0; 2297 //int adfadf = 0;
2301 //} 2298 //}
2302 if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero) 2299 if (SafeNativeMethods.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
2303 { 2300 {
2304 if (d.GeomIsSpace(currentspace)) 2301 if (SafeNativeMethods.GeomIsSpace(currentspace))
2305 { 2302 {
2306// waitForSpaceUnlock(currentspace); 2303// waitForSpaceUnlock(currentspace);
2307 d.SpaceRemove(currentspace, geom); 2304 SafeNativeMethods.SpaceRemove(currentspace, geom);
2308 } 2305 }
2309 else 2306 else
2310 { 2307 {
@@ -2314,13 +2311,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
2314 } 2311 }
2315 else 2312 else
2316 { 2313 {
2317 IntPtr sGeomIsIn = d.GeomGetSpace(geom); 2314 IntPtr sGeomIsIn = SafeNativeMethods.GeomGetSpace(geom);
2318 if (sGeomIsIn != IntPtr.Zero) 2315 if (sGeomIsIn != IntPtr.Zero)
2319 { 2316 {
2320 if (d.GeomIsSpace(currentspace)) 2317 if (SafeNativeMethods.GeomIsSpace(currentspace))
2321 { 2318 {
2322// waitForSpaceUnlock(sGeomIsIn); 2319// waitForSpaceUnlock(sGeomIsIn);
2323 d.SpaceRemove(sGeomIsIn, geom); 2320 SafeNativeMethods.SpaceRemove(sGeomIsIn, geom);
2324 } 2321 }
2325 else 2322 else
2326 { 2323 {
@@ -2331,13 +2328,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
2331 } 2328 }
2332 2329
2333 //If there are no more geometries in the sub-space, we don't need it in the main space anymore 2330 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2334 if (d.SpaceGetNumGeoms(currentspace) == 0) 2331 if (SafeNativeMethods.SpaceGetNumGeoms(currentspace) == 0)
2335 { 2332 {
2336 if (currentspace != IntPtr.Zero) 2333 if (currentspace != IntPtr.Zero)
2337 { 2334 {
2338 if (d.GeomIsSpace(currentspace)) 2335 if (SafeNativeMethods.GeomIsSpace(currentspace))
2339 { 2336 {
2340 d.SpaceRemove(space, currentspace); 2337 SafeNativeMethods.SpaceRemove(space, currentspace);
2341 // free up memory used by the space. 2338 // free up memory used by the space.
2342 2339
2343 resetSpaceArrayItemToZero(currentspace); 2340 resetSpaceArrayItemToZero(currentspace);
@@ -2355,12 +2352,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
2355 // this is a physical object that got disabled. ;.; 2352 // this is a physical object that got disabled. ;.;
2356 if (currentspace != IntPtr.Zero && geom != IntPtr.Zero) 2353 if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
2357 { 2354 {
2358 if (d.SpaceQuery(currentspace, geom)) 2355 if (SafeNativeMethods.SpaceQuery(currentspace, geom))
2359 { 2356 {
2360 if (d.GeomIsSpace(currentspace)) 2357 if (SafeNativeMethods.GeomIsSpace(currentspace))
2361 { 2358 {
2362// waitForSpaceUnlock(currentspace); 2359// waitForSpaceUnlock(currentspace);
2363 d.SpaceRemove(currentspace, geom); 2360 SafeNativeMethods.SpaceRemove(currentspace, geom);
2364 } 2361 }
2365 else 2362 else
2366 { 2363 {
@@ -2370,13 +2367,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
2370 } 2367 }
2371 else 2368 else
2372 { 2369 {
2373 IntPtr sGeomIsIn = d.GeomGetSpace(geom); 2370 IntPtr sGeomIsIn = SafeNativeMethods.GeomGetSpace(geom);
2374 if (sGeomIsIn != IntPtr.Zero) 2371 if (sGeomIsIn != IntPtr.Zero)
2375 { 2372 {
2376 if (d.GeomIsSpace(sGeomIsIn)) 2373 if (SafeNativeMethods.GeomIsSpace(sGeomIsIn))
2377 { 2374 {
2378// waitForSpaceUnlock(sGeomIsIn); 2375// waitForSpaceUnlock(sGeomIsIn);
2379 d.SpaceRemove(sGeomIsIn, geom); 2376 SafeNativeMethods.SpaceRemove(sGeomIsIn, geom);
2380 } 2377 }
2381 else 2378 else
2382 { 2379 {
@@ -2397,7 +2394,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2397 if (newspace == IntPtr.Zero) 2394 if (newspace == IntPtr.Zero)
2398 { 2395 {
2399 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]); 2396 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
2400 d.HashSpaceSetLevels(newspace, HashspaceLow, HashspaceHigh); 2397 SafeNativeMethods.HashSpaceSetLevels(newspace, HashspaceLow, HashspaceHigh);
2401 } 2398 }
2402 2399
2403 return newspace; 2400 return newspace;
@@ -2412,11 +2409,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
2412 internal IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY) 2409 internal IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
2413 { 2410 {
2414 // creating a new space for prim and inserting it into main space. 2411 // creating a new space for prim and inserting it into main space.
2415 staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero); 2412 staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = SafeNativeMethods.HashSpaceCreate(IntPtr.Zero);
2416 d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space); 2413 SafeNativeMethods.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
2417// waitForSpaceUnlock(space); 2414// waitForSpaceUnlock(space);
2418 d.SpaceSetSublevel(space, 1); 2415 SafeNativeMethods.SpaceSetSublevel(space, 1);
2419 d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]); 2416 SafeNativeMethods.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
2420 2417
2421 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]; 2418 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
2422 } 2419 }
@@ -2636,7 +2633,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2636 m_log.InfoFormat("[Ode] start processing pending actor operations"); 2633 m_log.InfoFormat("[Ode] start processing pending actor operations");
2637 int tstart = Util.EnvironmentTickCount(); 2634 int tstart = Util.EnvironmentTickCount();
2638 2635
2639 d.AllocateODEDataForThread(0); 2636 SafeNativeMethods.AllocateODEDataForThread(0);
2640 2637
2641 lock (_taintedPrims) 2638 lock (_taintedPrims)
2642 { 2639 {
@@ -2719,7 +2716,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2719 2716
2720 lock (OdeLock) 2717 lock (OdeLock)
2721 { 2718 {
2722 d.AllocateODEDataForThread(~0U); 2719 SafeNativeMethods.AllocateODEDataForThread(~0U);
2723 2720
2724 while (step_time > HalfOdeStep) 2721 while (step_time > HalfOdeStep)
2725 { 2722 {
@@ -2871,12 +2868,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
2871 } 2868 }
2872 2869
2873 lock(SimulationLock) 2870 lock(SimulationLock)
2874 d.WorldQuickStep(world, ODE_STEPSIZE); 2871 SafeNativeMethods.WorldQuickStep(world, ODE_STEPSIZE);
2875 2872
2876 if (CollectStats) 2873 if (CollectStats)
2877 m_stats[ODENativeStepFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick); 2874 m_stats[ODENativeStepFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick);
2878 2875
2879 d.JointGroupEmpty(contactgroup); 2876 SafeNativeMethods.JointGroupEmpty(contactgroup);
2880 } 2877 }
2881 catch (Exception e) 2878 catch (Exception e)
2882 { 2879 {
@@ -2924,7 +2921,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2924 2921
2925 foreach (OdePrim prim in _activeprims) 2922 foreach (OdePrim prim in _activeprims)
2926 { 2923 {
2927 if (prim.IsPhysical && (d.BodyIsEnabled(prim.Body) || !prim._zeroFlag)) 2924 if (prim.IsPhysical && (SafeNativeMethods.BodyIsEnabled(prim.Body) || !prim._zeroFlag))
2928 { 2925 {
2929 prim.UpdatePositionAndVelocity(); 2926 prim.UpdatePositionAndVelocity();
2930 2927
@@ -2954,7 +2951,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2954 fwriter.Close(); 2951 fwriter.Close();
2955 } 2952 }
2956 2953
2957 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix); 2954 SafeNativeMethods.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
2958 } 2955 }
2959 2956
2960 latertickcount = Util.EnvironmentTickCountSubtract(tickCountFrameRun); 2957 latertickcount = Util.EnvironmentTickCountSubtract(tickCountFrameRun);
@@ -3069,11 +3066,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
3069 { 3066 {
3070 IntPtr odeJoint; 3067 IntPtr odeJoint;
3071 //DoJointErrorMessage(joint, "ODE creating ball joint "); 3068 //DoJointErrorMessage(joint, "ODE creating ball joint ");
3072 odeJoint = d.JointCreateBall(world, IntPtr.Zero); 3069 odeJoint = SafeNativeMethods.JointCreateBall(world, IntPtr.Zero);
3073 //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]); 3070 //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
3074 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]); 3071 SafeNativeMethods.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
3075 //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position); 3072 //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
3076 d.JointSetBallAnchor(odeJoint, 3073 SafeNativeMethods.JointSetBallAnchor(odeJoint,
3077 joint.Position.X, 3074 joint.Position.X,
3078 joint.Position.Y, 3075 joint.Position.Y,
3079 joint.Position.Z); 3076 joint.Position.Z);
@@ -3097,11 +3094,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
3097 { 3094 {
3098 IntPtr odeJoint; 3095 IntPtr odeJoint;
3099 //DoJointErrorMessage(joint, "ODE creating hinge joint "); 3096 //DoJointErrorMessage(joint, "ODE creating hinge joint ");
3100 odeJoint = d.JointCreateHinge(world, IntPtr.Zero); 3097 odeJoint = SafeNativeMethods.JointCreateHinge(world, IntPtr.Zero);
3101 //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]); 3098 //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
3102 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]); 3099 SafeNativeMethods.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
3103 //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position); 3100 //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
3104 d.JointSetHingeAnchor(odeJoint, 3101 SafeNativeMethods.JointSetHingeAnchor(odeJoint,
3105 joint.Position.X, 3102 joint.Position.X,
3106 joint.Position.Y, 3103 joint.Position.Y,
3107 joint.Position.Z); 3104 joint.Position.Z);
@@ -3137,7 +3134,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3137 Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame); 3134 Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
3138 //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis); 3135 //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
3139 //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis); 3136 //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
3140 d.JointSetHingeAxis(odeJoint, 3137 SafeNativeMethods.JointSetHingeAxis(odeJoint,
3141 jointAxis.X, 3138 jointAxis.X,
3142 jointAxis.Y, 3139 jointAxis.Y,
3143 jointAxis.Z); 3140 jointAxis.Z);
@@ -3299,7 +3296,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3299 3296
3300 lock (OdeLock) 3297 lock (OdeLock)
3301 { 3298 {
3302 d.AllocateODEDataForThread(~0U); 3299 SafeNativeMethods.AllocateODEDataForThread(~0U);
3303 3300
3304 IntPtr GroundGeom = IntPtr.Zero; 3301 IntPtr GroundGeom = IntPtr.Zero;
3305 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom)) 3302 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
@@ -3311,29 +3308,29 @@ namespace OpenSim.Region.PhysicsModule.ODE
3311 { 3308 {
3312 TerrainHeightFieldHeights.Remove(GroundGeom); 3309 TerrainHeightFieldHeights.Remove(GroundGeom);
3313 } 3310 }
3314 d.SpaceRemove(space, GroundGeom); 3311 SafeNativeMethods.SpaceRemove(space, GroundGeom);
3315 d.GeomDestroy(GroundGeom); 3312 SafeNativeMethods.GeomDestroy(GroundGeom);
3316 } 3313 }
3317 3314
3318 } 3315 }
3319 IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); 3316 IntPtr HeightmapData = SafeNativeMethods.GeomHeightfieldDataCreate();
3320 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, 3317 SafeNativeMethods.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
3321 heightmapWidth, heightmapHeight, 3318 heightmapWidth, heightmapHeight,
3322 (int)heightmapWidthSamples, 3319 (int)heightmapWidthSamples,
3323 (int)heightmapHeightSamples, 3320 (int)heightmapHeightSamples,
3324 scale, offset, thickness, wrap); 3321 scale, offset, thickness, wrap);
3325 3322
3326 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); 3323 SafeNativeMethods.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
3327 GroundGeom = d.CreateHeightfield(space, HeightmapData, 1); 3324 GroundGeom = SafeNativeMethods.CreateHeightfield(space, HeightmapData, 1);
3328 if (GroundGeom != IntPtr.Zero) 3325 if (GroundGeom != IntPtr.Zero)
3329 { 3326 {
3330 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land)); 3327 SafeNativeMethods.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
3331 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space)); 3328 SafeNativeMethods.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
3332 3329
3333 } 3330 }
3334 geom_name_map[GroundGeom] = "Terrain"; 3331 geom_name_map[GroundGeom] = "Terrain";
3335 3332
3336 d.Matrix3 R = new d.Matrix3(); 3333 SafeNativeMethods.Matrix3 R = new SafeNativeMethods.Matrix3();
3337 3334
3338 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); 3335 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3339 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); 3336 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
@@ -3343,9 +3340,9 @@ namespace OpenSim.Region.PhysicsModule.ODE
3343 float angle; 3340 float angle;
3344 q1.GetAxisAngle(out v3, out angle); 3341 q1.GetAxisAngle(out v3, out angle);
3345 3342
3346 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); 3343 SafeNativeMethods.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3347 d.GeomSetRotation(GroundGeom, ref R); 3344 SafeNativeMethods.GeomSetRotation(GroundGeom, ref R);
3348 d.GeomSetPosition(GroundGeom, pOffset.X + regionsizeX * 0.5f, pOffset.Y + regionsizeY * 0.5f, 0.0f); 3345 SafeNativeMethods.GeomSetPosition(GroundGeom, pOffset.X + regionsizeX * 0.5f, pOffset.Y + regionsizeY * 0.5f, 0.0f);
3349 IntPtr testGround = IntPtr.Zero; 3346 IntPtr testGround = IntPtr.Zero;
3350 if (RegionTerrain.TryGetValue(pOffset, out testGround)) 3347 if (RegionTerrain.TryGetValue(pOffset, out testGround))
3351 { 3348 {
@@ -3384,7 +3381,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3384 3381
3385 _worldInitialized = false; 3382 _worldInitialized = false;
3386 3383
3387 d.AllocateODEDataForThread(~0U); 3384 SafeNativeMethods.AllocateODEDataForThread(~0U);
3388 3385
3389 if (m_rayCastManager != null) 3386 if (m_rayCastManager != null)
3390 { 3387 {
@@ -3412,13 +3409,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
3412 { 3409 {
3413 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) 3410 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
3414 TerrainHeightFieldHeights.Remove(GroundGeom); 3411 TerrainHeightFieldHeights.Remove(GroundGeom);
3415 d.GeomDestroy(GroundGeom); 3412 SafeNativeMethods.GeomDestroy(GroundGeom);
3416 } 3413 }
3417 } 3414 }
3418 3415
3419 try 3416 try
3420 { 3417 {
3421 d.WorldDestroy(world); 3418 SafeNativeMethods.WorldDestroy(world);
3422 world = IntPtr.Zero; 3419 world = IntPtr.Zero;
3423 } 3420 }
3424 catch (AccessViolationException e) 3421 catch (AccessViolationException e)