1 files changed, 524 insertions, 365 deletions

diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
index 0e46471..60cc549 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
@@ -32,7 +32,6 @@ using System;
 using System.Collections.Generic;
 using System.Reflection;
 using OpenMetaverse;
-using OdeAPI;
 using OpenSim.Framework;
 using OpenSim.Region.PhysicsModules.SharedBase;
 using log4net;
@@ -43,7 +42,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
     /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
     /// </summary>
 
-    public enum dParam : int
+    public enum dParam:int
     {
         LowStop = 0,
         HiStop = 1,
@@ -68,7 +67,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         StopCFM3 = 8 + 512
     }
 
-    public class OdeCharacter : PhysicsActor
+    public class OdeCharacter:PhysicsActor
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
@@ -122,7 +121,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         private bool m_freemove = false;
 
-//        private string m_name = String.Empty;
+        //        private string m_name = String.Empty;
         // other filter control
         int m_colliderfilter = 0;
         int m_colliderGroundfilter = 0;
@@ -144,7 +143,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         public IntPtr Amotor = IntPtr.Zero;
 
-        public d.Mass ShellMass;
+        internal SafeNativeMethods.Mass ShellMass;
 
         public int m_eventsubscription = 0;
         private int m_cureventsubscription = 0;
@@ -165,7 +164,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         private float m_targetHoverHeight;
 
 
-        public OdeCharacter(uint localID, String avName, ODEScene parent_scene, Vector3 pos, Vector3 pSize, float pfeetOffset, float density, float walk_divisor, float rundivisor)
+        public OdeCharacter(uint localID,String avName,ODEScene parent_scene,Vector3 pos,Vector3 pSize,float pfeetOffset,float density,float walk_divisor,float rundivisor)
         {
             m_uuid = UUID.Random();
             m_localID = localID;
@@ -174,21 +173,21 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             timeStep = parent_scene.ODE_STEPSIZE;
             invtimeStep = 1 / timeStep;
 
-            if (pos.IsFinite())
+            if(pos.IsFinite())
             {
-                if (pos.Z > 99999f)
+                if(pos.Z > 99999f)
                 {
-                    pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                    pos.Z = parent_scene.GetTerrainHeightAtXY(127,127) + 5;
                 }
-                if (pos.Z < -100f) // shouldn't this be 0 ?
+                if(pos.Z < -100f) // shouldn't this be 0 ?
                 {
-                    pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                    pos.Z = parent_scene.GetTerrainHeightAtXY(127,127) + 5;
                 }
                 _position = pos;
             }
             else
             {
-                _position = new Vector3(((float)m_parent_scene.WorldExtents.X * 0.5f), ((float)m_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
+                _position = new Vector3(((float)m_parent_scene.WorldExtents.X * 0.5f),((float)m_parent_scene.WorldExtents.Y * 0.5f),parent_scene.GetTerrainHeightAtXY(128f,128f) + 10f);
                 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
             }
 
@@ -216,7 +215,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             walkDivisor = walk_divisor;
             runDivisor = rundivisor;
 
-            m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default
+            m_mass = m_density * m_size.X * m_size.Y * m_size.Z;
+            ; // sure we have a default
 
             PID_D = basePID_D * m_mass * invtimeStep;
             PID_P = basePID_P * m_mass * invtimeStep;
@@ -225,13 +225,19 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
             Name = avName;
 
-            AddChange(changes.Add, null);
+            AddChange(changes.Add,null);
         }
 
         public override int PhysicsActorType
         {
-            get { return (int)ActorTypes.Agent; }
-            set { return; }
+            get
+            {
+                return (int)ActorTypes.Agent;
+            }
+            set
+            {
+                return;
+            }
         }
 
         public override void getContactData(ref ContactData cdata)
@@ -241,68 +247,116 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             cdata.softcolide = false;
         }
 
-        public override bool Building { get; set; }
+        public override bool Building
+        {
+            get; set;
+        }
 
         /// <summary>
         /// If this is set, the avatar will move faster
         /// </summary>
         public override bool SetAlwaysRun
         {
-            get { return m_alwaysRun; }
-            set { m_alwaysRun = value; }
+            get
+            {
+                return m_alwaysRun;
+            }
+            set
+            {
+                m_alwaysRun = value;
+            }
         }
 
         public override uint LocalID
         {
-            get { return m_localID; }
-            set { m_localID = value; }
+            get
+            {
+                return m_localID;
+            }
+            set
+            {
+                m_localID = value;
+            }
         }
 
         public override PhysicsActor ParentActor
         {
-            get { return (PhysicsActor)this; }
+            get
+            {
+                return (PhysicsActor)this;
+            }
         }
 
         public override bool Grabbed
         {
-            set { return; }
+            set
+            {
+                return;
+            }
         }
 
         public override bool Selected
         {
-            set { return; }
+            set
+            {
+                return;
+            }
         }
 
         public override float Buoyancy
         {
-            get { return m_buoyancy; }
-            set { m_buoyancy = value; }
+            get
+            {
+                return m_buoyancy;
+            }
+            set
+            {
+                m_buoyancy = value;
+            }
         }
 
         public override bool FloatOnWater
         {
-            set { return; }
+            set
+            {
+                return;
+            }
         }
 
         public override bool IsPhysical
         {
-            get { return m_isPhysical; }
-            set { return; }
+            get
+            {
+                return m_isPhysical;
+            }
+            set
+            {
+                return;
+            }
         }
 
         public override bool ThrottleUpdates
         {
-            get { return false; }
-            set { return; }
+            get
+            {
+                return false;
+            }
+            set
+            {
+                return;
+            }
         }
 
         public override bool Flying
         {
-            get { return m_flying; }
+            get
+            {
+                return m_flying;
+            }
             set
             {
                 m_flying = value;
-//                m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
+                //                m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
             }
         }
 
@@ -312,23 +366,26 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         /// </summary>
         public override bool IsColliding
         {
-            get { return (m_iscolliding || m_iscollidingGround); }
+            get
+            {
+                return (m_iscolliding || m_iscollidingGround);
+            }
             set
             {
-                if (value)
+                if(value)
                 {
                     m_colliderfilter += 3;
-                    if (m_colliderfilter > 3)
+                    if(m_colliderfilter > 3)
                         m_colliderfilter = 3;
                 }
                 else
                 {
                     m_colliderfilter--;
-                    if (m_colliderfilter < 0)
+                    if(m_colliderfilter < 0)
                         m_colliderfilter = 0;
                 }
 
-                if (m_colliderfilter == 0)
+                if(m_colliderfilter == 0)
                     m_iscolliding = false;
                 else
                 {
@@ -344,28 +401,31 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         /// </summary>
         public override bool CollidingGround
         {
-            get { return m_iscollidingGround; }
+            get
+            {
+                return m_iscollidingGround;
+            }
             set
             {
-/*  we now control this
-                if (value)
-                    {
-                    m_colliderGroundfilter += 2;
-                    if (m_colliderGroundfilter > 2)
-                        m_colliderGroundfilter = 2;
-                    }
-                else
-                    {
-                    m_colliderGroundfilter--;
-                    if (m_colliderGroundfilter < 0)
-                        m_colliderGroundfilter = 0;
-                    }
+                /*  we now control this
+                                if (value)
+                                    {
+                                    m_colliderGroundfilter += 2;
+                                    if (m_colliderGroundfilter > 2)
+                                        m_colliderGroundfilter = 2;
+                                    }
+                                else
+                                    {
+                                    m_colliderGroundfilter--;
+                                    if (m_colliderGroundfilter < 0)
+                                        m_colliderGroundfilter = 0;
+                                    }
 
-                if (m_colliderGroundfilter == 0)
-                    m_iscollidingGround = false;
-                else
-                    m_iscollidingGround = true;
- */
+                                if (m_colliderGroundfilter == 0)
+                                    m_iscollidingGround = false;
+                                else
+                                    m_iscollidingGround = true;
+                 */
             }
 
         }
@@ -375,31 +435,34 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         /// </summary>
         public override bool CollidingObj
         {
-            get { return m_iscollidingObj; }
+            get
+            {
+                return m_iscollidingObj;
+            }
             set
             {
                 // Ubit filter this also
-                if (value)
+                if(value)
                 {
                     m_colliderObjectfilter += 2;
-                    if (m_colliderObjectfilter > 2)
+                    if(m_colliderObjectfilter > 2)
                         m_colliderObjectfilter = 2;
                 }
                 else
                 {
                     m_colliderObjectfilter--;
-                    if (m_colliderObjectfilter < 0)
+                    if(m_colliderObjectfilter < 0)
                         m_colliderObjectfilter = 0;
                 }
 
-                if (m_colliderObjectfilter == 0)
+                if(m_colliderObjectfilter == 0)
                     m_iscollidingObj = false;
                 else
                     m_iscollidingObj = true;
 
-//            m_iscollidingObj = value;
+                //            m_iscollidingObj = value;
 
-                if (m_iscollidingObj)
+                if(m_iscollidingObj)
                     m_pidControllerActive = false;
                 else
                     m_pidControllerActive = true;
@@ -418,7 +481,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         public override bool Stopped
         {
-            get { return _zeroFlag; }
+            get
+            {
+                return _zeroFlag;
+            }
         }
 
         /// <summary>
@@ -428,20 +494,23 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         /// </summary>
         public override Vector3 Position
         {
-            get { return _position; }
+            get
+            {
+                return _position;
+            }
             set
             {
-                if (value.IsFinite())
+                if(value.IsFinite())
                 {
-                    if (value.Z > 9999999f)
+                    if(value.Z > 9999999f)
                     {
-                        value.Z = m_parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                        value.Z = m_parent_scene.GetTerrainHeightAtXY(127,127) + 5;
                     }
-                    if (value.Z < -100f)
+                    if(value.Z < -100f)
                     {
-                        value.Z = m_parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
+                        value.Z = m_parent_scene.GetTerrainHeightAtXY(127,127) + 5;
                     }
-                    AddChange(changes.Position, value);
+                    AddChange(changes.Position,value);
                 }
                 else
                 {
@@ -452,8 +521,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         public override Vector3 RotationalVelocity
         {
-            get { return m_rotationalVelocity; }
-            set { m_rotationalVelocity = value; }
+            get
+            {
+                return m_rotationalVelocity;
+            }
+            set
+            {
+                m_rotationalVelocity = value;
+            }
         }
 
         /// <summary>
@@ -468,7 +543,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             }
             set
             {
-                if (value.IsFinite())
+                if(value.IsFinite())
                 {
                     if(value.X <0.01f)
                         value.X = 0.01f;
@@ -477,7 +552,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     if(value.Z <0.01f)
                         value.Z = 0.01f;
 
-                    AddChange(changes.Size, value);
+                    AddChange(changes.Size,value);
                 }
                 else
                 {
@@ -486,21 +561,21 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             }
         }
 
-        public override void setAvatarSize(Vector3 size, float feetOffset)
+        public override void setAvatarSize(Vector3 size,float feetOffset)
         {
-            if (size.IsFinite())
+            if(size.IsFinite())
             {
-                if (size.X < 0.01f)
+                if(size.X < 0.01f)
                     size.X = 0.01f;
-                if (size.Y < 0.01f)
+                if(size.Y < 0.01f)
                     size.Y = 0.01f;
-                if (size.Z < 0.01f)
+                if(size.Z < 0.01f)
                     size.Z = 0.01f;
 
                 strAvatarSize st = new strAvatarSize();
                 st.size = size;
                 st.offset = feetOffset;
-                AddChange(changes.AvatarSize, st);
+                AddChange(changes.AvatarSize,st);
             }
             else
             {
@@ -545,32 +620,44 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         public override Vector3 Force
         {
-            get { return _target_velocity; }
-            set { return; }
+            get
+            {
+                return _target_velocity;
+            }
+            set
+            {
+                return;
+            }
         }
 
         public override int VehicleType
         {
-            get { return 0; }
-            set { return; }
+            get
+            {
+                return 0;
+            }
+            set
+            {
+                return;
+            }
         }
 
-        public override void VehicleFloatParam(int param, float value)
+        public override void VehicleFloatParam(int param,float value)
         {
 
         }
 
-        public override void VehicleVectorParam(int param, Vector3 value)
+        public override void VehicleVectorParam(int param,Vector3 value)
         {
 
         }
 
-        public override void VehicleRotationParam(int param, Quaternion rotation)
+        public override void VehicleRotationParam(int param,Quaternion rotation)
         {
 
         }
 
-        public override void VehicleFlags(int param, bool remove)
+        public override void VehicleFlags(int param,bool remove)
         {
 
         }
@@ -600,7 +687,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         public override PrimitiveBaseShape Shape
         {
-            set { return; }
+            set
+            {
+                return;
+            }
         }
 
         public override Vector3 rootVelocity
@@ -619,9 +709,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             }
             set
             {
-                if (value.IsFinite())
+                if(value.IsFinite())
                 {
-                    AddChange(changes.Velocity, value);
+                    AddChange(changes.Velocity,value);
                 }
                 else
                 {
@@ -638,9 +728,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             }
             set
             {
-                if (value.IsFinite())
+                if(value.IsFinite())
                 {
-                    AddChange(changes.TargetVelocity, value);
+                    AddChange(changes.TargetVelocity,value);
                 }
                 else
                 {
@@ -651,38 +741,62 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         public override Vector3 Torque
         {
-            get { return Vector3.Zero; }
-            set { return; }
+            get
+            {
+                return Vector3.Zero;
+            }
+            set
+            {
+                return;
+            }
         }
 
         public override float CollisionScore
         {
-            get { return 0f; }
-            set { }
+            get
+            {
+                return 0f;
+            }
+            set
+            {
+            }
         }
 
         public override bool Kinematic
         {
-            get { return false; }
-            set { }
+            get
+            {
+                return false;
+            }
+            set
+            {
+            }
         }
 
         public override Quaternion Orientation
         {
-            get { return m_orientation; }
+            get
+            {
+                return m_orientation;
+            }
             set
             {
-//                fakeori = value;
-//                givefakeori++;
+                //                fakeori = value;
+                //                givefakeori++;
                 value.Normalize();
-                AddChange(changes.Orientation, value);
+                AddChange(changes.Orientation,value);
             }
         }
 
         public override Vector3 Acceleration
         {
-            get { return _acceleration; }
-            set { }
+            get
+            {
+                return _acceleration;
+            }
+            set
+            {
+            }
         }
 
         public void SetAcceleration(Vector3 accel)
@@ -696,17 +810,17 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         /// The PID controller takes this target velocity and tries to make it a reality
         /// </summary>
         /// <param name="force"></param>
-        public override void AddForce(Vector3 force, bool pushforce)
+        public override void AddForce(Vector3 force,bool pushforce)
         {
-            if (force.IsFinite())
+            if(force.IsFinite())
             {
-                if (pushforce)
+                if(pushforce)
                 {
-                    AddChange(changes.Force, force * m_density / (m_parent_scene.ODE_STEPSIZE * 28f));
+                    AddChange(changes.Force,force * m_density / (m_parent_scene.ODE_STEPSIZE * 28f));
                 }
                 else
                 {
-                    AddChange(changes.TargetVelocity, force);
+                    AddChange(changes.TargetVelocity,force);
                 }
             }
             else
@@ -716,19 +830,19 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             //m_lastUpdateSent = false;
         }
 
-        public override void AddAngularForce(Vector3 force, bool pushforce)
+        public override void AddAngularForce(Vector3 force,bool pushforce)
         {
 
         }
 
         public override void SetMomentum(Vector3 momentum)
         {
-            if (momentum.IsFinite())
-                AddChange(changes.Momentum, momentum);
+            if(momentum.IsFinite())
+                AddChange(changes.Momentum,momentum);
         }
 
 
-        private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
+        private void AvatarGeomAndBodyCreation(float npositionX,float npositionY,float npositionZ)
         {
             // sizes  one day should came from visual parameters
             float sx = m_size.X;
@@ -739,7 +853,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             boneOff = bot + 0.3f;
 
             float feetsz = sz * 0.45f;
-            if (feetsz > 0.6f)
+            if(feetsz > 0.6f)
                 feetsz = 0.6f;
 
             feetOff = bot + feetsz;
@@ -751,29 +865,28 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
             m_parent_scene.waitForSpaceUnlock(m_parent_scene.CharsSpace);
 
-            collider = d.HashSpaceCreate(m_parent_scene.CharsSpace);
-            d.HashSpaceSetLevels(collider, -4, 3);
-            d.SpaceSetSublevel(collider, 3);
-            d.SpaceSetCleanup(collider, false);
-            d.GeomSetCategoryBits(collider, (uint)m_collisionCategories);
-            d.GeomSetCollideBits(collider, (uint)m_collisionFlags);
+            collider = SafeNativeMethods.SimpleSpaceCreate(m_parent_scene.CharsSpace);
+            SafeNativeMethods.SpaceSetSublevel(collider,3);
+            SafeNativeMethods.SpaceSetCleanup(collider,false);
+            SafeNativeMethods.GeomSetCategoryBits(collider,(uint)m_collisionCategories);
+            SafeNativeMethods.GeomSetCollideBits(collider,(uint)m_collisionFlags);
 
             float r = m_size.X;
-            if (m_size.Y > r)
+            if(m_size.Y > r)
                 r = m_size.Y;
             float l = m_size.Z - r;
             r *= 0.5f;
 
-            capsule = d.CreateCapsule(collider, r, l);
+            capsule = SafeNativeMethods.CreateCapsule(collider,r,l);
 
             m_mass = m_density * m_size.X * m_size.Y * m_size.Z;  // update mass
 
-            d.MassSetBoxTotal(out ShellMass, m_mass, m_size.X, m_size.Y, m_size.Z);
+            SafeNativeMethods.MassSetBoxTotal(out ShellMass,m_mass,m_size.X,m_size.Y,m_size.Z);
 
             PID_D = basePID_D * m_mass / m_parent_scene.ODE_STEPSIZE;
             PID_P = basePID_P * m_mass / m_parent_scene.ODE_STEPSIZE;
 
-            Body = d.BodyCreate(m_parent_scene.world);
+            Body = SafeNativeMethods.BodyCreate(m_parent_scene.world);
 
             _zeroFlag = false;
             m_pidControllerActive = true;
@@ -781,53 +894,53 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
             _velocity = Vector3.Zero;
 
-            d.BodySetAutoDisableFlag(Body, false);
-            d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
+            SafeNativeMethods.BodySetAutoDisableFlag(Body,false);
+            SafeNativeMethods.BodySetPosition(Body,npositionX,npositionY,npositionZ);
 
             _position.X = npositionX;
             _position.Y = npositionY;
             _position.Z = npositionZ;
 
-            d.BodySetMass(Body, ref ShellMass);
-            d.GeomSetBody(capsule, Body);
+            SafeNativeMethods.BodySetMass(Body,ref ShellMass);
+            SafeNativeMethods.GeomSetBody(capsule,Body);
 
             // The purpose of the AMotor here is to keep the avatar's physical
             // surrogate from rotating while moving
-            Amotor = d.JointCreateAMotor(m_parent_scene.world, IntPtr.Zero);
-            d.JointAttach(Amotor, Body, IntPtr.Zero);
-
-            d.JointSetAMotorMode(Amotor, 0);
-            d.JointSetAMotorNumAxes(Amotor, 3);
-            d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
-            d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
-            d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
-
-            d.JointSetAMotorAngle(Amotor, 0, 0);
-            d.JointSetAMotorAngle(Amotor, 1, 0);
-            d.JointSetAMotorAngle(Amotor, 2, 0);
-
-            d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
-            d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
-            d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
-            d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
-            d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
-            d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
+            Amotor = SafeNativeMethods.JointCreateAMotor(m_parent_scene.world,IntPtr.Zero);
+            SafeNativeMethods.JointAttach(Amotor,Body,IntPtr.Zero);
+
+            SafeNativeMethods.JointSetAMotorMode(Amotor,0);
+            SafeNativeMethods.JointSetAMotorNumAxes(Amotor,3);
+            SafeNativeMethods.JointSetAMotorAxis(Amotor,0,0,1,0,0);
+            SafeNativeMethods.JointSetAMotorAxis(Amotor,1,0,0,1,0);
+            SafeNativeMethods.JointSetAMotorAxis(Amotor,2,0,0,0,1);
+
+            SafeNativeMethods.JointSetAMotorAngle(Amotor,0,0);
+            SafeNativeMethods.JointSetAMotorAngle(Amotor,1,0);
+            SafeNativeMethods.JointSetAMotorAngle(Amotor,2,0);
+
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.StopCFM,0f); // make it HARD
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.StopCFM2,0f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.StopCFM3,0f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.StopERP,0.8f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.StopERP2,0.8f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.StopERP3,0.8f);
 
             // These lowstops and high stops are effectively (no wiggle room)
-            d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
-            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
-            d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
-            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
-            d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
-            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.LowStop,-1e-5f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.HiStop,1e-5f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.LoStop2,-1e-5f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.HiStop2,1e-5f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.LoStop3,-1e-5f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.HiStop3,1e-5f);
 
-            d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
-            d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0);
-            d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)SafeNativeMethods.JointParam.Vel,0);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)SafeNativeMethods.JointParam.Vel2,0);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)SafeNativeMethods.JointParam.Vel3,0);
 
-            d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e8f);
-            d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e8f);
-            d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e8f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.FMax,5e8f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.FMax2,5e8f);
+            SafeNativeMethods.JointSetAMotorParam(Amotor,(int)dParam.FMax3,5e8f);
         }
 
         /// <summary>
@@ -836,38 +949,38 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         private void AvatarGeomAndBodyDestroy()
         {
             // Kill the Amotor
-            if (Amotor != IntPtr.Zero)
+            if(Amotor != IntPtr.Zero)
             {
-                d.JointDestroy(Amotor);
+                SafeNativeMethods.JointDestroy(Amotor);
                 Amotor = IntPtr.Zero;
             }
 
-            if (Body != IntPtr.Zero)
+            if(Body != IntPtr.Zero)
             {
                 //kill the body
-                d.BodyDestroy(Body);
+                SafeNativeMethods.BodyDestroy(Body);
                 Body = IntPtr.Zero;
             }
 
             //kill the Geoms
-            if (capsule != IntPtr.Zero)
+            if(capsule != IntPtr.Zero)
             {
                 m_parent_scene.actor_name_map.Remove(capsule);
                 m_parent_scene.waitForSpaceUnlock(collider);
-                d.GeomDestroy(capsule);
+                SafeNativeMethods.GeomDestroy(capsule);
                 capsule = IntPtr.Zero;
             }
 
-            if (collider != IntPtr.Zero)
+            if(collider != IntPtr.Zero)
             {
-                d.SpaceDestroy(collider);
+                SafeNativeMethods.SpaceDestroy(collider);
                 collider = IntPtr.Zero;
             }
 
         }
 
         //in place 2D rotation around Z assuming rot is normalised and is a rotation around Z
-        public void RotateXYonZ(ref float x, ref float y, ref Quaternion rot)
+        public void RotateXYonZ(ref float x,ref float y,ref Quaternion rot)
         {
             float sin = 2.0f * rot.Z * rot.W;
             float cos = rot.W * rot.W - rot.Z * rot.Z;
@@ -876,22 +989,22 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             x = tx * cos - y * sin;
             y = tx * sin + y * cos;
         }
-        public void RotateXYonZ(ref float x, ref float y, ref float sin, ref float cos)
+        public void RotateXYonZ(ref float x,ref float y,ref float sin,ref float cos)
         {
             float tx = x;
             x = tx * cos - y * sin;
             y = tx * sin + y * cos;
         }
-        public void invRotateXYonZ(ref float x, ref float y, ref float sin, ref float cos)
+        public void invRotateXYonZ(ref float x,ref float y,ref float sin,ref float cos)
         {
             float tx = x;
             x = tx * cos + y * sin;
             y = -tx * sin + y * cos;
         }
 
-        public void invRotateXYonZ(ref float x, ref float y, ref Quaternion rot)
+        public void invRotateXYonZ(ref float x,ref float y,ref Quaternion rot)
         {
-            float sin = - 2.0f * rot.Z * rot.W;
+            float sin = -2.0f * rot.Z * rot.W;
             float cos = rot.W * rot.W - rot.Z * rot.Z;
             float tx = x;
 
@@ -899,13 +1012,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             y = tx * sin + y * cos;
         }
 
-            public bool Collide(IntPtr me, IntPtr other, bool reverse, ref d.ContactGeom contact,
-                ref d.ContactGeom altContact , ref bool useAltcontact, ref bool feetcollision)
-            {
+        internal bool Collide(IntPtr me,IntPtr other,bool reverse,ref SafeNativeMethods.ContactGeom contact,
+            ref SafeNativeMethods.ContactGeom altContact,ref bool useAltcontact,ref bool feetcollision)
+        {
             feetcollision = false;
             useAltcontact = false;
 
-            if (me == capsule)
+            if(me == capsule)
             {
                 Vector3 offset;
 
@@ -915,25 +1028,25 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 offset.X = contact.pos.X - _position.X;
                 offset.Y = contact.pos.Y - _position.Y;
 
-                d.GeomClassID gtype = d.GeomGetClass(other);
-                if (gtype == d.GeomClassID.CapsuleClass)
+                SafeNativeMethods.GeomClassID gtype = SafeNativeMethods.GeomGetClass(other);
+                if(gtype == SafeNativeMethods.GeomClassID.CapsuleClass)
                 {
                     Vector3 roff = offset * Quaternion.Inverse(m_orientation2D);
                     float r = roff.X *roff.X / AvaAvaSizeXsq;
                     r += (roff.Y * roff.Y) / AvaAvaSizeYsq;
-                    if (r > 1.0f)
+                    if(r > 1.0f)
                         return false;
 
                     float dp = 1.0f -(float)Math.Sqrt((double)r);
-                    if (dp > 0.05f)
+                    if(dp > 0.05f)
                         dp = 0.05f;
 
                     contact.depth = dp;
 
-                    if (offset.Z < 0)
+                    if(offset.Z < 0)
                     {
                         feetcollision = true;
-                        if (h < boneOff)
+                        if(h < boneOff)
                         {
                             m_collideNormal.X = contact.normal.X;
                             m_collideNormal.Y = contact.normal.Y;
@@ -944,18 +1057,18 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     return true;
                 }
 
-                if (gtype == d.GeomClassID.SphereClass && d.GeomGetBody(other) != IntPtr.Zero)
+                if(gtype == SafeNativeMethods.GeomClassID.SphereClass && SafeNativeMethods.GeomGetBody(other) != IntPtr.Zero)
                 {
-                    if(d.GeomSphereGetRadius(other) < 0.5)
+                    if(SafeNativeMethods.GeomSphereGetRadius(other) < 0.5)
                         return true;
                 }
 
-                if (offset.Z > 0 || contact.normal.Z > 0.35f)
+                if(offset.Z > 0 || contact.normal.Z > 0.35f)
                 {
-                    if (offset.Z <= 0)
+                    if(offset.Z <= 0)
                     {
                         feetcollision = true;
-                        if (h < boneOff)
+                        if(h < boneOff)
                         {
                             m_collideNormal.X = contact.normal.X;
                             m_collideNormal.Y = contact.normal.Y;
@@ -970,7 +1083,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     return true;
 
                 feetcollision = true;
-                if (h < boneOff)
+                if(h < boneOff)
                 {
                     m_collideNormal.X = contact.normal.X;
                     m_collideNormal.Y = contact.normal.Y;
@@ -990,18 +1103,18 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 t = Math.Abs(t);
                 if(t > 1e-6)
                 {
-                   tdp /= t;
-                   tdp *= contact.normal.X;
+                    tdp /= t;
+                    tdp *= contact.normal.X;
                 }
                 else
                     tdp *= 10;
 
-                if (tdp > 0.25f)
+                if(tdp > 0.25f)
                     tdp = 0.25f;
 
                 altContact.depth = tdp;
 
-                if (reverse)
+                if(reverse)
                 {
                     altContact.normal.X = offset.X;
                     altContact.normal.Y = offset.Y;
@@ -1025,28 +1138,28 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         /// <param name="timeStep"></param>
         public void Move(List<OdeCharacter> defects)
         {
-            if (Body == IntPtr.Zero)
+            if(Body == IntPtr.Zero)
                 return;
 
-            d.Vector3 dtmp = d.BodyGetPosition(Body);
-            Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
+            SafeNativeMethods.Vector3 dtmp = SafeNativeMethods.BodyGetPosition(Body);
+            Vector3 localpos = new Vector3(dtmp.X,dtmp.Y,dtmp.Z);
 
             // the Amotor still lets avatar rotation to drift during colisions
             // so force it back to identity
 
-            d.Quaternion qtmp;
+            SafeNativeMethods.Quaternion qtmp;
             qtmp.W = m_orientation2D.W;
             qtmp.X = m_orientation2D.X;
             qtmp.Y = m_orientation2D.Y;
             qtmp.Z = m_orientation2D.Z;
-            d.BodySetQuaternion(Body, ref qtmp);
+            SafeNativeMethods.BodySetQuaternion(Body,ref qtmp);
 
-            if (m_pidControllerActive == false)
+            if(m_pidControllerActive == false)
             {
                 _zeroPosition = localpos;
             }
 
-            if (!localpos.IsFinite())
+            if(!localpos.IsFinite())
             {
                 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
                 defects.Add(this);
@@ -1059,44 +1172,44 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
             // check outbounds forcing to be in world
             bool fixbody = false;
-            if (localpos.X < 0.0f)
+            if(localpos.X < 0.0f)
             {
                 fixbody = true;
                 localpos.X = 0.1f;
             }
-            else if (localpos.X > m_parent_scene.WorldExtents.X - 0.1f)
+            else if(localpos.X > m_parent_scene.WorldExtents.X - 0.1f)
             {
                 fixbody = true;
                 localpos.X = m_parent_scene.WorldExtents.X - 0.1f;
             }
-            if (localpos.Y < 0.0f)
+            if(localpos.Y < 0.0f)
             {
                 fixbody = true;
                 localpos.Y = 0.1f;
             }
-            else if (localpos.Y > m_parent_scene.WorldExtents.Y - 0.1)
+            else if(localpos.Y > m_parent_scene.WorldExtents.Y - 0.1)
             {
                 fixbody = true;
                 localpos.Y = m_parent_scene.WorldExtents.Y - 0.1f;
             }
-            if (fixbody)
+            if(fixbody)
             {
                 m_freemove = false;
-                d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z);
+                SafeNativeMethods.BodySetPosition(Body,localpos.X,localpos.Y,localpos.Z);
             }
 
             float breakfactor;
 
             Vector3 vec = Vector3.Zero;
-            dtmp = d.BodyGetLinearVel(Body);
-            Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
+            dtmp = SafeNativeMethods.BodyGetLinearVel(Body);
+            Vector3 vel = new Vector3(dtmp.X,dtmp.Y,dtmp.Z);
             float velLengthSquared = vel.LengthSquared();
 
             Vector3 ctz = _target_velocity;
 
             float movementdivisor = 1f;
             //Ubit change divisions into multiplications below
-            if (!m_alwaysRun)
+            if(!m_alwaysRun)
                 movementdivisor = 1 / walkDivisor;
             else
                 movementdivisor = 1 / runDivisor;
@@ -1107,25 +1220,25 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             //******************************************
             // colide with land
 
-            d.AABB aabb;
-//            d.GeomGetAABB(feetbox, out aabb);
-            d.GeomGetAABB(capsule, out aabb);
+            SafeNativeMethods.AABB aabb;
+            //            d.GeomGetAABB(feetbox, out aabb);
+            SafeNativeMethods.GeomGetAABB(capsule,out aabb);
             float chrminZ = aabb.MinZ; // move up a bit
             Vector3 posch = localpos;
 
             float ftmp;
 
-            if (m_flying)
+            if(m_flying)
             {
                 ftmp = timeStep;
                 posch.X += vel.X * ftmp;
                 posch.Y += vel.Y * ftmp;
             }
 
-            float terrainheight = m_parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
-            if (chrminZ < terrainheight)
+            float terrainheight = m_parent_scene.GetTerrainHeightAtXY(posch.X,posch.Y);
+            if(chrminZ < terrainheight)
             {
-                if (ctz.Z < 0)
+                if(ctz.Z < 0)
                     ctz.Z = 0;
 
                 if(!m_haveLastFallVel)
@@ -1134,12 +1247,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     m_haveLastFallVel = true;
                 }
 
-                Vector3 n = m_parent_scene.GetTerrainNormalAtXY(posch.X, posch.Y);
+                Vector3 n = m_parent_scene.GetTerrainNormalAtXY(posch.X,posch.Y);
                 float depth = terrainheight - chrminZ;
 
                 vec.Z = depth * PID_P * 50;
 
-                if (!m_flying)
+                if(!m_flying)
                 {
                     vec.Z += -vel.Z * PID_D;
                     if(n.Z < 0.4f)
@@ -1155,19 +1268,19 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                             n.X = 0f;
                             n.Y = 0f;
                             n.Z = 1.0f;
-                         }
+                        }
                     }
                 }
 
-                if (depth < 0.2f)
+                if(depth < 0.2f)
                 {
                     m_colliderGroundfilter++;
-                    if (m_colliderGroundfilter > 2)
+                    if(m_colliderGroundfilter > 2)
                     {
                         m_iscolliding = true;
                         m_colliderfilter = 2;
 
-                        if (m_colliderGroundfilter > 10)
+                        if(m_colliderGroundfilter > 10)
                         {
                             m_colliderGroundfilter = 10;
                             m_freemove = false;
@@ -1187,19 +1300,19 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                         contact.SurfaceNormal.X = -n.X;
                         contact.SurfaceNormal.Y = -n.Y;
                         contact.SurfaceNormal.Z = -n.Z;
-                        contact.RelativeSpeed = Vector3.Dot(m_lastFallVel, n);
+                        contact.RelativeSpeed = Vector3.Dot(m_lastFallVel,n);
                         contact.CharacterFeet = true;
-                        AddCollisionEvent(0, contact);
+                        AddCollisionEvent(0,contact);
                         m_lastFallVel = vel;
 
-//                        vec.Z *= 0.5f;
+                        //                        vec.Z *= 0.5f;
                     }
                 }
 
                 else
                 {
                     m_colliderGroundfilter -= 5;
-                    if (m_colliderGroundfilter <= 0)
+                    if(m_colliderGroundfilter <= 0)
                     {
                         m_colliderGroundfilter = 0;
                         m_iscollidingGround = false;
@@ -1210,7 +1323,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             {
                 m_haveLastFallVel = false;
                 m_colliderGroundfilter -= 5;
-                if (m_colliderGroundfilter <= 0)
+                if(m_colliderGroundfilter <= 0)
                 {
                     m_colliderGroundfilter = 0;
                     m_iscollidingGround = false;
@@ -1219,11 +1332,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
             bool hoverPIDActive = false;
 
-            if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
+            if(m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
             {
                 hoverPIDActive = true;
 
-                switch (m_PIDHoverType)
+                switch(m_PIDHoverType)
                 {
                     case PIDHoverType.Ground:
                         m_targetHoverHeight = terrainheight + m_PIDHoverHeight;
@@ -1231,20 +1344,20 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
                     case PIDHoverType.GroundAndWater:
                         float waterHeight = m_parent_scene.GetWaterLevel();
-                        if (terrainheight > waterHeight)
+                        if(terrainheight > waterHeight)
                             m_targetHoverHeight = terrainheight + m_PIDHoverHeight;
                         else
                             m_targetHoverHeight = waterHeight + m_PIDHoverHeight;
                         break;
                 }     // end switch (m_PIDHoverType)
 
-                    // don't go underground
-                if (m_targetHoverHeight > terrainheight + 0.5f * (aabb.MaxZ - aabb.MinZ))
+                // don't go underground
+                if(m_targetHoverHeight > terrainheight + 0.5f * (aabb.MaxZ - aabb.MinZ))
                 {
                     float fz = (m_targetHoverHeight - localpos.Z);
 
                     //  if error is zero, use position control; otherwise, velocity control
-                    if (Math.Abs(fz) < 0.01f)
+                    if(Math.Abs(fz) < 0.01f)
                     {
                         ctz.Z = 0;
                     }
@@ -1254,9 +1367,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                         fz /= m_PIDHoverTau;
 
                         float tmp = Math.Abs(fz);
-                        if (tmp > 50)
+                        if(tmp > 50)
                             fz = 50 * Math.Sign(fz);
-                        else if (tmp < 0.1)
+                        else if(tmp < 0.1)
                             fz = 0.1f * Math.Sign(fz);
 
                         ctz.Z = fz;
@@ -1265,43 +1378,43 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             }
 
             //******************************************
-            if (!m_iscolliding)
+            if(!m_iscolliding)
                 m_collideNormal.Z = 0;
 
             bool tviszero = (ctz.X == 0.0f && ctz.Y == 0.0f && ctz.Z == 0.0f);
 
-            if (!tviszero)
+            if(!tviszero)
             {
                 m_freemove = false;
 
                 // movement relative to surface if moving on it
                 // dont disturbe vertical movement, ie jumps
-                if (m_iscolliding && !m_flying && ctz.Z == 0 && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f)
+                if(m_iscolliding && !m_flying && ctz.Z == 0 && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f)
                 {
                     float p = ctz.X * m_collideNormal.X + ctz.Y * m_collideNormal.Y;
                     ctz.X *= (float)Math.Sqrt(1 - m_collideNormal.X * m_collideNormal.X);
                     ctz.Y *= (float)Math.Sqrt(1 - m_collideNormal.Y * m_collideNormal.Y);
                     ctz.Z -= p;
-                    if (ctz.Z < 0)
+                    if(ctz.Z < 0)
                         ctz.Z *= 2;
 
                 }
 
             }
 
-            if (!m_freemove)
+            if(!m_freemove)
             {
 
                 //  if velocity is zero, use position control; otherwise, velocity control
-                if (tviszero && m_iscolliding && !m_flying)
+                if(tviszero && m_iscolliding && !m_flying)
                 {
                     //  keep track of where we stopped.  No more slippin' & slidin'
-                    if (!_zeroFlag)
+                    if(!_zeroFlag)
                     {
                         _zeroFlag = true;
                         _zeroPosition = localpos;
                     }
-                    if (m_pidControllerActive)
+                    if(m_pidControllerActive)
                     {
                         // We only want to deactivate the PID Controller if we think we want to have our surrogate
                         // react to the physics scene by moving it's position.
@@ -1314,12 +1427,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                             vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
                         else
                             vec.Z += (-vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P) * 0.2f;
-/*
-                        if (flying)
-                        {
-                            vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
-                        }
-*/
+                        /*
+                                                if (flying)
+                                                {
+                                                    vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
+                                                }
+                        */
                     }
                     //PidStatus = true;
                 }
@@ -1328,12 +1441,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     m_pidControllerActive = true;
                     _zeroFlag = false;
 
-                    if (m_iscolliding)
+                    if(m_iscolliding)
                     {
-                        if (!m_flying)
+                        if(!m_flying)
                         {
                             // we are on a surface
-                            if (ctz.Z > 0f)
+                            if(ctz.Z > 0f)
                             {
                                 // moving up or JUMPING
                                 vec.Z += (ctz.Z - vel.Z) * PID_D * 2f;
@@ -1343,9 +1456,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                             else
                             {
                                 // we are moving down on a surface
-                                if (ctz.Z == 0)
+                                if(ctz.Z == 0)
                                 {
-                                    if (vel.Z > 0)
+                                    if(vel.Z > 0)
                                         vec.Z -= vel.Z * PID_D * 2f;
                                     vec.X += (ctz.X - vel.X) * (PID_D);
                                     vec.Y += (ctz.Y - vel.Y) * (PID_D);
@@ -1353,15 +1466,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                                 // intencionally going down
                                 else
                                 {
-                                    if (ctz.Z < vel.Z)
+                                    if(ctz.Z < vel.Z)
                                         vec.Z += (ctz.Z - vel.Z) * PID_D;
                                     else
                                     {
                                     }
 
-                                    if (Math.Abs(ctz.X) > Math.Abs(vel.X))
+                                    if(Math.Abs(ctz.X) > Math.Abs(vel.X))
                                         vec.X += (ctz.X - vel.X) * (PID_D);
-                                    if (Math.Abs(ctz.Y) > Math.Abs(vel.Y))
+                                    if(Math.Abs(ctz.Y) > Math.Abs(vel.Y))
                                         vec.Y += (ctz.Y - vel.Y) * (PID_D);
                                 }
                             }
@@ -1378,7 +1491,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     }
                     else // ie not colliding
                     {
-                        if (m_flying || hoverPIDActive) //(!m_iscolliding && flying)
+                        if(m_flying || hoverPIDActive) //(!m_iscolliding && flying)
                         {
                             // we're in mid air suspended
                             vec.X += (ctz.X - vel.X) * (PID_D);
@@ -1395,13 +1508,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                             vec.X += (ctz.X - vel.X) * PID_D * 0.833f;
                             vec.Y += (ctz.Y - vel.Y) * PID_D * 0.833f;
                             // hack for  breaking on fall
-                            if (ctz.Z == -9999f)
+                            if(ctz.Z == -9999f)
                                 vec.Z += -vel.Z * PID_D - m_parent_scene.gravityz * m_mass;
                         }
                     }
                 }
 
-                if (velLengthSquared > 2500.0f) // 50m/s apply breaks
+                if(velLengthSquared > 2500.0f) // 50m/s apply breaks
                 {
                     breakfactor = 0.16f * m_mass;
                     vec.X -= breakfactor * vel.X;
@@ -1414,13 +1527,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 breakfactor = m_mass;
                 vec.X -= breakfactor * vel.X;
                 vec.Y -= breakfactor * vel.Y;
-                if (m_flying)
+                if(m_flying)
                     vec.Z -= 0.5f * breakfactor * vel.Z;
                 else
                     vec.Z -= .16f* m_mass * vel.Z;
             }
 
-            if (m_flying || hoverPIDActive)
+            if(m_flying || hoverPIDActive)
             {
                 vec.Z -= m_parent_scene.gravityz * m_mass;
 
@@ -1429,18 +1542,18 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     //Added for auto fly height. Kitto Flora
                     float target_altitude = terrainheight + MinimumGroundFlightOffset;
 
-                    if (localpos.Z < target_altitude)
+                    if(localpos.Z < target_altitude)
                     {
-                       vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
+                        vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
                     }
                     // end add Kitto Flora
                 }
             }
 
-            if (vec.IsFinite())
+            if(vec.IsFinite())
             {
-                if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
-                    d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
+                if(vec.X != 0 || vec.Y !=0 || vec.Z !=0)
+                    SafeNativeMethods.BodyAddForce(Body,vec.X,vec.Y,vec.Z);
             }
             else
             {
@@ -1457,7 +1570,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             //            _position = localpos;
             _position = localpos;
 
-            if (_zeroFlag)
+            if(_zeroFlag)
             {
                 _velocity = Vector3.Zero;
                 _acceleration = Vector3.Zero;
@@ -1465,12 +1578,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             }
             else
             {
-                Vector3 a =_velocity; // previus velocity
-                SetSmooth(ref _velocity, ref vel, 2);
+                Vector3 a = _velocity; // previus velocity
+                SetSmooth(ref _velocity,ref vel,2);
                 a = (_velocity - a) * invtimeStep;
-                SetSmooth(ref _acceleration, ref a, 2);
+                SetSmooth(ref _acceleration,ref a,2);
 
-                dtmp = d.BodyGetAngularVel(Body);
+                dtmp = SafeNativeMethods.BodyGetAngularVel(Body);
                 m_rotationalVelocity.X = 0f;
                 m_rotationalVelocity.Y = 0f;
                 m_rotationalVelocity.Z = dtmp.Z;
@@ -1478,30 +1591,30 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             }
         }
 
-        public void round(ref Vector3 v, int digits)
+        public void round(ref Vector3 v,int digits)
         {
-            v.X = (float)Math.Round(v.X, digits);
-            v.Y = (float)Math.Round(v.Y, digits);
-            v.Z = (float)Math.Round(v.Z, digits);
-         }
+            v.X = (float)Math.Round(v.X,digits);
+            v.Y = (float)Math.Round(v.Y,digits);
+            v.Z = (float)Math.Round(v.Z,digits);
+        }
 
-        public void SetSmooth(ref Vector3 dst, ref Vector3 value)
+        public void SetSmooth(ref Vector3 dst,ref Vector3 value)
         {
             dst.X = 0.1f * dst.X + 0.9f * value.X;
             dst.Y = 0.1f * dst.Y + 0.9f * value.Y;
             dst.Z = 0.1f * dst.Z + 0.9f * value.Z;
         }
 
-        public void SetSmooth(ref Vector3 dst, ref Vector3 value, int rounddigits)
+        public void SetSmooth(ref Vector3 dst,ref Vector3 value,int rounddigits)
         {
             dst.X = 0.4f * dst.X + 0.6f * value.X;
-            dst.X = (float)Math.Round(dst.X, rounddigits);
+            dst.X = (float)Math.Round(dst.X,rounddigits);
 
             dst.Y = 0.4f * dst.Y + 0.6f * value.Y;
-            dst.Y = (float)Math.Round(dst.Y, rounddigits);
+            dst.Y = (float)Math.Round(dst.Y,rounddigits);
 
             dst.Z = 0.4f * dst.Z + 0.6f * value.Z;
-            dst.Z = (float)Math.Round(dst.Z, rounddigits);
+            dst.Z = (float)Math.Round(dst.Z,rounddigits);
         }
 
 
@@ -1516,8 +1629,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         {
             return;
 
-//            if (Body == IntPtr.Zero)
-//                return;
+            //            if (Body == IntPtr.Zero)
+            //                return;
 
         }
 
@@ -1526,16 +1639,38 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         /// </summary>
         public void Destroy()
         {
-            AddChange(changes.Remove, null);
+            AddChange(changes.Remove,null);
         }
 
         public override void CrossingFailure()
         {
         }
 
-        public override Vector3 PIDTarget { set { return; } }
-        public override bool PIDActive {get {return m_pidControllerActive;} set { return; } }
-        public override float PIDTau { set { return; } }
+        public override Vector3 PIDTarget
+        {
+            set
+            {
+                return;
+            }
+        }
+        public override bool PIDActive
+        {
+            get
+            {
+                return m_pidControllerActive;
+            }
+            set
+            {
+                return;
+            }
+        }
+        public override float PIDTau
+        {
+            set
+            {
+                return;
+            }
+        }
 
         public override float PIDHoverHeight
         {
@@ -1548,11 +1683,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         {
             get
             {
-            return m_useHoverPID;
+                return m_useHoverPID;
             }
             set
             {
-                AddChange(changes.PIDHoverActive, value);
+                AddChange(changes.PIDHoverActive,value);
             }
         }
 
@@ -1568,26 +1703,50 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         {
             set
             {
-                float tmp =0;
-                if (value > 0)
+                float tmp = 0;
+                if(value > 0)
                 {
                     float mint = (0.05f > timeStep ? 0.05f : timeStep);
-                    if (value < mint)
+                    if(value < mint)
                         tmp = mint;
                     else
                         tmp = value;
                 }
-                AddChange(changes.PIDHoverTau, tmp);
+                AddChange(changes.PIDHoverTau,tmp);
             }
         }
 
-        public override Quaternion APIDTarget { set { return; } }
+        public override Quaternion APIDTarget
+        {
+            set
+            {
+                return;
+            }
+        }
 
-        public override bool APIDActive { set { return; } }
+        public override bool APIDActive
+        {
+            set
+            {
+                return;
+            }
+        }
 
-        public override float APIDStrength { set { return; } }
+        public override float APIDStrength
+        {
+            set
+            {
+                return;
+            }
+        }
 
-        public override float APIDDamping { set { return; } }
+        public override float APIDDamping
+        {
+            set
+            {
+                return;
+            }
+        }
 
         public override void SubscribeEvents(int ms)
         {
@@ -1605,34 +1764,34 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 CollisionEventsThisFrame.Clear();
         }
 
-        public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
+        public override void AddCollisionEvent(uint CollidedWith,ContactPoint contact)
         {
             lock(CollisionEventsThisFrame)
-                CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
+                CollisionEventsThisFrame.AddCollider(CollidedWith,contact);
             m_parent_scene.AddCollisionEventReporting(this);
         }
 
         public void SendCollisions(int timestep)
         {
-            if (m_cureventsubscription < 50000)
+            if(m_cureventsubscription < 50000)
                 m_cureventsubscription += timestep;
 
-            if (m_cureventsubscription < m_eventsubscription)
+            if(m_cureventsubscription < m_eventsubscription)
                 return;
 
             lock(CollisionEventsThisFrame)
             {
                 int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count;
 
-                if (!SentEmptyCollisionsEvent || ncolisions > 0)
+                if(!SentEmptyCollisionsEvent || ncolisions > 0)
                 {
                     base.SendCollisionUpdate(CollisionEventsThisFrame);
                     m_cureventsubscription = 0;
 
-                    if (ncolisions == 0)
+                    if(ncolisions == 0)
                     {
                         SentEmptyCollisionsEvent = true;
-    //                  _parent_scene.RemoveCollisionEventReporting(this);
+                        //                  _parent_scene.RemoveCollisionEventReporting(this);
                     }
                     else
                     {
@@ -1645,20 +1804,20 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         public override bool SubscribedEvents()
         {
-            if (m_eventsubscription > 0)
+            if(m_eventsubscription > 0)
                 return true;
             return false;
         }
 
         private void changePhysicsStatus(bool NewStatus)
         {
-            if (NewStatus != m_isPhysical)
+            if(NewStatus != m_isPhysical)
             {
-                if (NewStatus)
+                if(NewStatus)
                 {
                     AvatarGeomAndBodyDestroy();
 
-                    AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
+                    AvatarGeomAndBodyCreation(_position.X,_position.Y,_position.Z);
 
                     m_parent_scene.actor_name_map[collider] = (PhysicsActor)this;
                     m_parent_scene.actor_name_map[capsule] = (PhysicsActor)this;
@@ -1698,20 +1857,20 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         private void changeSize(Vector3 pSize)
         {
-            if (pSize.IsFinite())
+            if(pSize.IsFinite())
             {
                 // for now only look to Z changes since viewers also don't change X and Y
-                if (pSize.Z != m_size.Z)
+                if(pSize.Z != m_size.Z)
                 {
                     AvatarGeomAndBodyDestroy();
 
                     float oldsz = m_size.Z;
                     m_size = pSize;
 
-                    AvatarGeomAndBodyCreation(_position.X, _position.Y,
+                    AvatarGeomAndBodyCreation(_position.X,_position.Y,
                                       _position.Z + (m_size.Z - oldsz) * 0.5f);
 
-//                    Velocity = Vector3.Zero;
+                    //                    Velocity = Vector3.Zero;
                     m_targetVelocity = Vector3.Zero;
 
                     m_parent_scene.actor_name_map[collider] = (PhysicsActor)this;
@@ -1726,18 +1885,18 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             }
         }
 
-        private void changePosition( Vector3 newPos)
-            {
-                if (Body != IntPtr.Zero)
-                    d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
-                _position = newPos;
-                m_freemove = false;
-                m_pidControllerActive = true;
-            }
+        private void changePosition(Vector3 newPos)
+        {
+            if(Body != IntPtr.Zero)
+                SafeNativeMethods.BodySetPosition(Body,newPos.X,newPos.Y,newPos.Z);
+            _position = newPos;
+            m_freemove = false;
+            m_pidControllerActive = true;
+        }
 
         private void changeOrientation(Quaternion newOri)
         {
-            if (m_orientation != newOri)
+            if(m_orientation != newOri)
             {
                 m_orientation = newOri; // keep a copy for core use
                 // but only use rotations around Z
@@ -1746,7 +1905,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 m_orientation2D.Z = newOri.Z;
 
                 float t = m_orientation2D.W * m_orientation2D.W + m_orientation2D.Z * m_orientation2D.Z;
-                if (t > 0)
+                if(t > 0)
                 {
                     t = 1.0f / (float)Math.Sqrt(t);
                     m_orientation2D.W *= t;
@@ -1760,12 +1919,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 m_orientation2D.Y = 0f;
                 m_orientation2D.X = 0f;
 
-                d.Quaternion myrot = new d.Quaternion();
+                SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
                 myrot.X = m_orientation2D.X;
                 myrot.Y = m_orientation2D.Y;
                 myrot.Z = m_orientation2D.Z;
                 myrot.W = m_orientation2D.W;
-                d.BodySetQuaternion(Body, ref myrot);
+                SafeNativeMethods.BodySetQuaternion(Body,ref myrot);
             }
         }
 
@@ -1774,8 +1933,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             _velocity = newVel;
             setFreeMove();
 
-            if (Body != IntPtr.Zero)
-                d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
+            if(Body != IntPtr.Zero)
+                SafeNativeMethods.BodySetLinearVel(Body,newVel.X,newVel.Y,newVel.Z);
         }
 
         private void changeTargetVelocity(Vector3 newVel)
@@ -1842,10 +2001,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         {
             setFreeMove();
 
-            if (Body != IntPtr.Zero)
+            if(Body != IntPtr.Zero)
             {
-                if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
-                    d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
+                if(newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
+                    SafeNativeMethods.BodyAddForce(Body,newForce.X,newForce.Y,newForce.Z);
             }
         }
 
@@ -1855,15 +2014,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             _velocity = newmomentum;
             setFreeMove();
 
-            if (Body != IntPtr.Zero)
-                d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
+            if(Body != IntPtr.Zero)
+                SafeNativeMethods.BodySetLinearVel(Body,newmomentum.X,newmomentum.Y,newmomentum.Z);
         }
 
         private void changePIDHoverHeight(float val)
         {
-          m_PIDHoverHeight = val;
-          if (val == 0)
-            m_useHoverPID = false;
+            m_PIDHoverHeight = val;
+            if(val == 0)
+                m_useHoverPID = false;
         }
 
         private void changePIDHoverType(PIDHoverType type)
@@ -1885,15 +2044,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         {
         }
 
-        public bool DoAChange(changes what, object arg)
+        public bool DoAChange(changes what,object arg)
         {
-            if (collider == IntPtr.Zero && what != changes.Add && what != changes.Remove)
+            if(collider == IntPtr.Zero && what != changes.Add && what != changes.Remove)
             {
                 return false;
             }
 
             // nasty switch
-            switch (what)
+            switch(what)
             {
                 case changes.Add:
                     changeAdd();
@@ -1981,35 +2140,35 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     changePIDHoverActive((bool)arg);
                     break;
 
-/* not in use for now
-                case changes.Shape:
-                    changeShape((PrimitiveBaseShape)arg);
-                    break;
+                /* not in use for now
+                                case changes.Shape:
+                                    changeShape((PrimitiveBaseShape)arg);
+                                    break;
 
-                case changes.CollidesWater:
-                    changeFloatOnWater((bool)arg);
-                    break;
+                                case changes.CollidesWater:
+                                    changeFloatOnWater((bool)arg);
+                                    break;
 
-                case changes.VolumeDtc:
-                    changeVolumedetetion((bool)arg);
-                    break;
+                                case changes.VolumeDtc:
+                                    changeVolumedetetion((bool)arg);
+                                    break;
 
-                case changes.Physical:
-                    changePhysicsStatus((bool)arg);
-                    break;
+                                case changes.Physical:
+                                    changePhysicsStatus((bool)arg);
+                                    break;
 
-                case changes.Selected:
-                    changeSelectedStatus((bool)arg);
-                    break;
+                                case changes.Selected:
+                                    changeSelectedStatus((bool)arg);
+                                    break;
 
-                case changes.disabled:
-                    changeDisable((bool)arg);
-                    break;
+                                case changes.disabled:
+                                    changeDisable((bool)arg);
+                                    break;
 
-                case changes.building:
-                    changeBuilding((bool)arg);
-                    break;
-*/
+                                case changes.building:
+                                    changeBuilding((bool)arg);
+                                    break;
+                */
                 case changes.Null:
                     donullchange();
                     break;
@@ -2021,9 +2180,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             return false;
         }
 
-        public void AddChange(changes what, object arg)
+        public void AddChange(changes what,object arg)
         {
-            m_parent_scene.AddChange((PhysicsActor)this, what, arg);
+            m_parent_scene.AddChange((PhysicsActor)this,what,arg);
         }
 
         private struct strAvatarSize