5 files changed, 96 insertions, 108 deletions

diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
index 97dcb69..dc65a2c 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -1558,33 +1558,36 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
                         //                        tmpTime =  Util.GetTimeStampMS();
 
-                        lock (SimulationLock)
+                        // Move characters
+                        lock (_characters)
                         {
-                            // Move characters
-                            lock (_characters)
+                            foreach (OdeCharacter actor in _characters)
                             {
-                                foreach (OdeCharacter actor in _characters)
-                                {
+                                lock (SimulationLock)
                                     actor.Move();
-                                }
                             }
+                        }
 
-                            // Move other active objects
-                            lock (_activegroups)
+                        // Move other active objects
+                        lock (_activegroups)
+                        {
+                            foreach (OdePrim aprim in _activegroups)
                             {
-                                foreach (OdePrim aprim in _activegroups)
-                                {
+                                lock (SimulationLock)
                                     aprim.Move();
-                                }
                             }
+                        }
                         // moveTime += Util.GetTimeStampMS() - tmpTime;
                         // tmpTime =  Util.GetTimeStampMS();
+                        lock (SimulationLock)
+                        {
                             m_rayCastManager.ProcessQueuedRequests();
-                            // rayTime += Util.GetTimeStampMS() - tmpTime;
+                        // rayTime += Util.GetTimeStampMS() - tmpTime;
 
-                            // tmpTime =  Util.GetTimeStampMS();
+                        // tmpTime =  Util.GetTimeStampMS();
                             collision_optimized();
                         }
+
                         // collisionTime += Util.GetTimeStampMS() - tmpTime;
 
                         // tmpTime =  Util.GetTimeStampMS();
@@ -1655,7 +1658,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                                         }
                         */
                         //                        tmpTime =  Util.GetTimeStampMS();
-                        lock (SimulationLock)
+                        //lock (SimulationLock)
                         {
                             lock (_activegroups)
                             {
@@ -1664,7 +1667,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                                     {
                                         if (actor.IsPhysical)
                                         {
-                                            actor.UpdatePositionAndVelocity(framecount);
+                                            lock (SimulationLock)
+                                                actor.UpdatePositionAndVelocity(framecount);
                                         }
                                     }
                                 }
diff --git a/OpenSim/Region/PhysicsModules/ubOdeMeshing/Mesh.cs b/OpenSim/Region/PhysicsModules/ubOdeMeshing/Mesh.cs
index 5d2b1f7..380cce2 100644
--- a/OpenSim/Region/PhysicsModules/ubOdeMeshing/Mesh.cs
+++ b/OpenSim/Region/PhysicsModules/ubOdeMeshing/Mesh.cs
@@ -218,7 +218,6 @@ namespace OpenSim.Region.PhysicsModule.ubODEMeshing
                 m_bdata.m_obbZmax = z;
             if (z < m_bdata.m_obbZmin)
                 m_bdata.m_obbZmin = z;
-
         }
 
         public void Add(Triangle triangle)
@@ -324,13 +323,15 @@ namespace OpenSim.Region.PhysicsModule.ubODEMeshing
             if (m_bdata.m_vertices == null)
                 throw new NotSupportedException();
             float[] result = new float[m_bdata.m_vertices.Count * 3];
+            int k = 0;
             foreach (KeyValuePair<Vertex, int> kvp in m_bdata.m_vertices)
             {
                 Vertex v = kvp.Key;
                 int i = kvp.Value;
-                result[3 * i + 0] = v.X;
-                result[3 * i + 1] = v.Y;
-                result[3 * i + 2] = v.Z;
+                k = 3 * i;
+                result[k] = v.X;
+                result[k + 1] = v.Y;
+                result[k + 2] = v.Z;
             }
             return result;
         }
@@ -364,12 +365,14 @@ namespace OpenSim.Region.PhysicsModule.ubODEMeshing
             if (m_bdata.m_triangles == null)
                 throw new NotSupportedException();
             int[] result = new int[m_bdata.m_triangles.Count * 3];
+            int k;
             for (int i = 0; i < m_bdata.m_triangles.Count; i++)
             {
+                k= 3 * i;
                 Triangle t = m_bdata.m_triangles[i];
-                result[3 * i + 0] = m_bdata.m_vertices[t.v1];
-                result[3 * i + 1] = m_bdata.m_vertices[t.v2];
-                result[3 * i + 2] = m_bdata.m_vertices[t.v3];
+                result[k] = m_bdata.m_vertices[t.v1];
+                result[k + 1] = m_bdata.m_vertices[t.v2];
+                result[k + 2] = m_bdata.m_vertices[t.v3];
             }
             return result;
         }
@@ -463,9 +466,9 @@ namespace OpenSim.Region.PhysicsModule.ubODEMeshing
                 if (v == null)
                     continue;
                 float x, y, z;
-                x = v.X*matrix[0, 0] + v.Y*matrix[1, 0] + v.Z*matrix[2, 0];
-                y = v.X*matrix[0, 1] + v.Y*matrix[1, 1] + v.Z*matrix[2, 1];
-                z = v.X*matrix[0, 2] + v.Y*matrix[1, 2] + v.Z*matrix[2, 2];
+                x = v.X * matrix[0, 0] + v.Y * matrix[1, 0] + v.Z * matrix[2, 0];
+                y = v.X * matrix[0, 1] + v.Y * matrix[1, 1] + v.Z * matrix[2, 1];
+                z = v.X * matrix[0, 2] + v.Y * matrix[1, 2] + v.Z * matrix[2, 2];
                 v.X = x + offset[0];
                 v.Y = y + offset[1];
                 v.Z = z + offset[2];
diff --git a/OpenSim/Region/PhysicsModules/ubOdeMeshing/Meshmerizer.cs b/OpenSim/Region/PhysicsModules/ubOdeMeshing/Meshmerizer.cs
index 1b2f41a..6950f2d 100644
--- a/OpenSim/Region/PhysicsModules/ubOdeMeshing/Meshmerizer.cs
+++ b/OpenSim/Region/PhysicsModules/ubOdeMeshing/Meshmerizer.cs
@@ -945,7 +945,7 @@ namespace OpenSim.Region.PhysicsModule.ubODEMeshing
 #endif
                 try
                 {
-                    primMesh.ExtrudeLinear();
+                    primMesh.Extrude(PathType.Linear); ;
                 }
                 catch (Exception ex)
                 {
@@ -978,7 +978,7 @@ namespace OpenSim.Region.PhysicsModule.ubODEMeshing
 #endif
                 try
                 {
-                    primMesh.ExtrudeCircular();
+                    primMesh.Extrude(PathType.Circular);
                 }
                 catch (Exception ex)
                 {
diff --git a/OpenSim/Region/PhysicsModules/ubOdeMeshing/PrimMesher.cs b/OpenSim/Region/PhysicsModules/ubOdeMeshing/PrimMesher.cs
index 23e87d1..f3a57d3 100644
--- a/OpenSim/Region/PhysicsModules/ubOdeMeshing/PrimMesher.cs
+++ b/OpenSim/Region/PhysicsModules/ubOdeMeshing/PrimMesher.cs
@@ -212,14 +212,34 @@ namespace PrimMesher
 
         public static Coord operator *(Coord v, Quat q)
         {
-            float rx = q.W * v.X + q.Y * v.Z - q.Z * v.Y;
-            float ry = q.W * v.Y + q.Z * v.X - q.X * v.Z;
-            float rz = q.W * v.Z + q.X * v.Y - q.Y * v.X;
+            float x = q.X;
+            float y = q.Y;
+            float x2 = x + x;
+            float z = q.Z;
+            float y2 = y + y;
+            float w = q.W;
+            float z2 = z + z;
+
+            float zz2 = z * z2;
+
+            float xx2 = x * x2;
+            float xy2 = x * y2;
+            float xz2 = x * z2;
+            z = v.Z;
+
+            float yy2 = y * y2;
+            float yz2 = y * z2;
+            x = v.X;
+
+            float wx2 = w * x2;
+            float wy2 = w * y2;
+            float wz2 = w * z2;
+            y = v.Y;
 
             return new Coord(
-                2.0f * (rz * q.Y - ry * q.Z) + v.X,
-                2.0f * (rx * q.Z - rz * q.X) + v.Y,
-                2.0f * (ry * q.X - rx * q.Y) + v.Z );
+                x * (1.0f - yy2 - zz2) + y * (xy2 - wz2) + z * (xz2 + wy2),
+                x * (xy2 + wz2) + y * (1.0f - xx2 - zz2) + z * (yz2 - wx2),
+                x * (xz2 - wy2) + y * (yz2 + wx2) + z * (1.0f - xx2 - yy2));
         }
     }
 
@@ -248,9 +268,9 @@ namespace PrimMesher
         internal float X;
         internal float Y;
 
-        internal Angle(float angle, float x, float y)
+        internal Angle(float _angle, float x, float y)
         {
-            this.angle = angle; // 1 is 2pi
+            angle = _angle; // 1 is 2pi
             X = x; // cos
             Y = y; // sin
         }
@@ -359,8 +379,8 @@ namespace PrimMesher
         {
             angles = new List<Angle>();
 
-            const float twoPi = (float)(Math.PI * 2.0);
-            const float twoPiInv = (float)(0.5 / Math.PI);
+            const float twoPi = 2.0f * (float)Math.PI;
+            const float twoPiInv = 0.5f / (float)Math.PI;
 
             if (sides < 1)
                 throw new Exception("number of sides not greater than zero");
@@ -479,7 +499,7 @@ namespace PrimMesher
     /// </summary>
     public class Profile
     {
-        private const float twoPi = (float)(2.0 * Math.PI);
+        private const float twoPi = 2.0f * (float)Math.PI;
 
         public string errorMessage = null;
 
@@ -533,7 +553,6 @@ namespace PrimMesher
             try { angles.makeAngles(sides, startAngle, stopAngle,hasProfileCut); }
             catch (Exception ex)
             {
-
                 errorMessage = "makeAngles failed: Exception: " + ex.ToString()
                 + "\nsides: " + sides.ToString() + " startAngle: " + startAngle.ToString() + " stopAngle: " + stopAngle.ToString();
 
@@ -791,7 +810,6 @@ namespace PrimMesher
                 }
             }
 
-
             hollowCoords = null;
         }
 
@@ -833,7 +851,7 @@ namespace PrimMesher
                 vert.X += x;
                 vert.Y += y;
                 vert.Z += z;
-                this.coords[i] = vert;
+                coords[i] = vert;
             }
         }
 
@@ -1228,7 +1246,6 @@ namespace PrimMesher
             get { return hasHollow; }
         }
 
-
         /// <summary>
         /// Constructs a PrimMesh object and creates the profile for extrusion.
         /// </summary>
@@ -1257,13 +1274,13 @@ namespace PrimMesher
                 profileStart = 0.0f;
             if (profileEnd > 1.0f)
                 profileEnd = 1.0f;
-            if (profileEnd < 0.02f)
+            else if (profileEnd < 0.02f)
                 profileEnd = 0.02f;
             if (profileStart >= profileEnd)
                 profileStart = profileEnd - 0.02f;
             if (hollow > 0.99f)
                 hollow = 0.99f;
-            if (hollow < 0.0f)
+            else if (hollow < 0.0f)
                 hollow = 0.0f;
         }
 
@@ -1281,9 +1298,7 @@ namespace PrimMesher
 
             float length = pathCutEnd - pathCutBegin;
 
-            hasProfileCut = this.profileEnd - this.profileStart < 0.9999f;
-
-            hasHollow = (this.hollow > 0.001f);
+            hasProfileCut = profileEnd - profileStart < 0.9999f;
 
             float twistTotal = twistEnd - twistBegin;
             float twistTotalAbs = Math.Abs(twistTotal);
@@ -1291,6 +1306,8 @@ namespace PrimMesher
                 steps += (int)(twistTotalAbs * 3.66); //  dahlia's magic number
 
             float hollow = this.hollow;
+            hasHollow = hollow > 0.001f;
+
             float initialProfileRot = 0.0f;
 
             if (pathType == PathType.Circular)
@@ -1516,29 +1533,6 @@ namespace PrimMesher
         // more cleanup will be done at Meshmerizer.cs
         }
 
-
-        /// <summary>
-        /// DEPRICATED - use Extrude(PathType.Linear) instead
-        /// Extrudes a profile along a straight line path. Used for prim types box, cylinder, and prism.
-        /// </summary>
-        ///
-        public void ExtrudeLinear()
-        {
-            Extrude(PathType.Linear);
-        }
-
-
-        /// <summary>
-        /// DEPRICATED - use Extrude(PathType.Circular) instead
-        /// Extrude a profile into a circular path prim mesh. Used for prim types torus, tube, and ring.
-        /// </summary>
-        ///
-        public void ExtrudeCircular()
-        {
-            Extrude(PathType.Circular);
-        }
-
-
         private Coord SurfaceNormal(Coord c1, Coord c2, Coord c3)
         {
             Coord edge1 = new Coord(c2.X - c1.X, c2.Y - c1.Y, c2.Z - c1.Z);
@@ -1553,7 +1547,7 @@ namespace PrimMesher
 
         private Coord SurfaceNormal(Face face)
         {
-            return SurfaceNormal(this.coords[face.v1], this.coords[face.v2], this.coords[face.v3]);
+            return SurfaceNormal(coords[face.v1], coords[face.v2], coords[face.v3]);
         }
 
         /// <summary>
@@ -1563,11 +1557,11 @@ namespace PrimMesher
         /// <returns></returns>
         public Coord SurfaceNormal(int faceIndex)
         {
-            int numFaces = this.faces.Count;
+            int numFaces = faces.Count;
             if (faceIndex < 0 || faceIndex >= numFaces)
                 throw new Exception("faceIndex out of range");
 
-            return SurfaceNormal(this.faces[faceIndex]);
+            return SurfaceNormal(faces[faceIndex]);
         }
 
         /// <summary>
@@ -1612,16 +1606,16 @@ namespace PrimMesher
         public void AddPos(float x, float y, float z)
         {
             int i;
-            int numVerts = this.coords.Count;
+            int numVerts = coords.Count;
             Coord vert;
 
             for (i = 0; i < numVerts; i++)
             {
-                vert = this.coords[i];
+                vert = coords[i];
                 vert.X += x;
                 vert.Y += y;
                 vert.Z += z;
-                this.coords[i] = vert;
+                coords[i] = vert;
             }
         }
 
@@ -1632,18 +1626,11 @@ namespace PrimMesher
         public void AddRot(Quat q)
         {
             int i;
-            int numVerts = this.coords.Count;
+            int numVerts = coords.Count;
 
             for (i = 0; i < numVerts; i++)
-                this.coords[i] *= q;
-        }
-
-#if VERTEX_INDEXER
-        public VertexIndexer GetVertexIndexer()
-        {
-            return null;
+                coords[i] *= q;
         }
-#endif
 
         /// <summary>
         /// Scales the mesh
@@ -1659,7 +1646,7 @@ namespace PrimMesher
 
             Coord m = new Coord(x, y, z);
             for (i = 0; i < numVerts; i++)
-                this.coords[i] *= m;
+                coords[i] *= m;
         }
 
         /// <summary>
@@ -1674,18 +1661,15 @@ namespace PrimMesher
                 return;
             String fileName = name + "_" + title + ".raw";
             String completePath = System.IO.Path.Combine(path, fileName);
-            StreamWriter sw = new StreamWriter(completePath);
-
-            for (int i = 0; i < this.faces.Count; i++)
+            using (StreamWriter sw = new StreamWriter(completePath))
             {
-                string s = this.coords[this.faces[i].v1].ToString();
-                s += " " + this.coords[this.faces[i].v2].ToString();
-                s += " " + this.coords[this.faces[i].v3].ToString();
-
-                sw.WriteLine(s);
+                for (int i = 0; i < this.faces.Count; i++)
+                {
+                    sw.Write(coords[faces[i].v1].ToString());
+                    sw.Write(coords[faces[i].v2].ToString());
+                    sw.WriteLine(coords[faces[i].v3].ToString());
+                }
             }
-
-            sw.Close();
         }
     }
 }
diff --git a/OpenSim/Region/PhysicsModules/ubOdeMeshing/SculptMesh.cs b/OpenSim/Region/PhysicsModules/ubOdeMeshing/SculptMesh.cs
index bc1375b..184221d 100644
--- a/OpenSim/Region/PhysicsModules/ubOdeMeshing/SculptMesh.cs
+++ b/OpenSim/Region/PhysicsModules/ubOdeMeshing/SculptMesh.cs
@@ -165,8 +165,8 @@ namespace PrimMesher
                                 f2 = new Face(p1, p4, p2);
                             }
 
-                        this.faces.Add(f1);
-                        this.faces.Add(f2);
+                        faces.Add(f1);
+                        faces.Add(f2);
                     }
                 }
             }
@@ -203,18 +203,15 @@ namespace PrimMesher
                 return;
             String fileName = name + "_" + title + ".raw";
             String completePath = System.IO.Path.Combine(path, fileName);
-            StreamWriter sw = new StreamWriter(completePath);
-
-            for (int i = 0; i < this.faces.Count; i++)
+            using(StreamWriter sw = new StreamWriter(completePath))
             {
-                string s = this.coords[this.faces[i].v1].ToString();
-                s += " " + this.coords[this.faces[i].v2].ToString();
-                s += " " + this.coords[this.faces[i].v3].ToString();
-
-                sw.WriteLine(s);
+                for (int i = 0; i < faces.Count; i++)
+                {
+                    sw.Write(coords[faces[i].v1].ToString());
+                    sw.Write(coords[faces[i].v2].ToString());
+                    sw.WriteLine(coords[faces[i].v3].ToString());
+                }
             }
-
-            sw.Close();
         }
     }
 }