Cleanup.

BulletSharpPInvoke/Dynamics/RaycastVehicle.cs

@@ -122,23 +122,24 @@ public RaycastVehicle(VehicleTuning tuning, RigidBody chassis, IVehicleRaycaster
 
         public WheelInfo AddWheel(Vector3 connectionPointCS, Vector3 wheelDirectionCS0, Vector3 wheelAxleCS, float suspensionRestLength, float wheelRadius, VehicleTuning tuning, bool isFrontWheel)
         {
-            WheelInfoConstructionInfo ci = new WheelInfoConstructionInfo();
-
-            ci.ChassisConnectionCS = connectionPointCS;
-            ci.WheelDirectionCS = wheelDirectionCS0;
-            ci.WheelAxleCS = wheelAxleCS;
-            ci.SuspensionRestLength = suspensionRestLength;
-            ci.WheelRadius = wheelRadius;
-            ci.SuspensionStiffness = tuning.SuspensionStiffness;
-            ci.WheelsDampingCompression = tuning.SuspensionCompression;
-            ci.WheelsDampingRelaxation = tuning.SuspensionDamping;
-            ci.FrictionSlip = tuning.FrictionSlip;
-            ci.IsFrontWheel = isFrontWheel;
-            ci.MaxSuspensionTravelCm = tuning.MaxSuspensionTravelCm;
-            ci.MaxSuspensionForce = tuning.MaxSuspensionForce;
-
-            Array.Resize<WheelInfo>(ref wheelInfo, wheelInfo.Length + 1);
-            WheelInfo wheel = new WheelInfo(ci);
+            var ci = new WheelInfoConstructionInfo()
+            {
+                ChassisConnectionCS = connectionPointCS,
+                WheelDirectionCS = wheelDirectionCS0,
+                WheelAxleCS = wheelAxleCS,
+                SuspensionRestLength = suspensionRestLength,
+                WheelRadius = wheelRadius,
+                IsFrontWheel = isFrontWheel,
+                SuspensionStiffness = tuning.SuspensionStiffness,
+                WheelsDampingCompression = tuning.SuspensionCompression,
+                WheelsDampingRelaxation = tuning.SuspensionDamping,
+                FrictionSlip = tuning.FrictionSlip,
+                MaxSuspensionTravelCm = tuning.MaxSuspensionTravelCm,
+                MaxSuspensionForce = tuning.MaxSuspensionForce
+            };
+
+            Array.Resize(ref wheelInfo, wheelInfo.Length + 1);
+            var wheel = new WheelInfo(ci);
             wheelInfo[wheelInfo.Length - 1] = wheel;
 
             UpdateWheelTransformsWS(wheel, false);
@@ -373,10 +374,10 @@ public void UpdateFriction(float timeStep)
             if (numWheel == 0)
                 return;
 
-            Array.Resize<Vector3>(ref forwardWS, numWheel);
-            Array.Resize<Vector3>(ref axle, numWheel);
-            Array.Resize<float>(ref forwardImpulse, numWheel);
-            Array.Resize<float>(ref sideImpulse, numWheel);
+            Array.Resize(ref forwardWS, numWheel);
+            Array.Resize(ref axle, numWheel);
+            Array.Resize(ref forwardImpulse, numWheel);
+            Array.Resize(ref sideImpulse, numWheel);
 
             int numWheelsOnGround = 0;
 
@@ -724,23 +725,23 @@ void UpdateWheelTransformsWS(WheelInfo wheel, bool interpolatedTransform)
 
     public class DefaultVehicleRaycaster : IVehicleRaycaster
     {
-        private DynamicsWorld m_dynamicsWorld;
+        private DynamicsWorld _dynamicsWorld;
 
         public DefaultVehicleRaycaster(DynamicsWorld world)
         {
-            m_dynamicsWorld = world;
+            _dynamicsWorld = world;
         }
 
-        public Object CastRay(ref Vector3 from, ref Vector3 to, VehicleRaycasterResult result)
+        public object CastRay(ref Vector3 from, ref Vector3 to, VehicleRaycasterResult result)
         {
             //	RayResultCallback& resultCallback;
             using (var rayCallback = new ClosestRayResultCallback(ref from, ref to))
             {
-                m_dynamicsWorld.RayTestRef(ref from, ref to, rayCallback);
+                _dynamicsWorld.RayTestRef(ref from, ref to, rayCallback);
 
                 if (rayCallback.HasHit)
                 {
-                    RigidBody body = RigidBody.Upcast(rayCallback.CollisionObject);
+                    var body = RigidBody.Upcast(rayCallback.CollisionObject);
                     if (body != null && body.HasContactResponse)
                     {
                         result.HitPointInWorld = rayCallback.HitPointWorld;

BulletSharpPInvoke/Dynamics/VehicleRaycaster.cs

@@ -12,6 +12,6 @@ public class VehicleRaycasterResult
 
     public interface IVehicleRaycaster
 	{
-        Object CastRay(ref Vector3 from, ref Vector3 to, VehicleRaycasterResult result);
+        object CastRay(ref Vector3 from, ref Vector3 to, VehicleRaycasterResult result);
 	}
 }

BulletSharpPInvoke/Math/Matrix.cs

@@ -40,7 +40,7 @@ public struct Matrix : IEquatable<Matrix>, IFormattable
         /// <summary>
         /// The size of the <see cref="SlimMath.Matrix"/> type, in bytes.
         /// </summary>
-        public static readonly int SizeInBytes = Marshal.SizeOf(typeof(Matrix));
+        public const int SizeInBytes = 16 * sizeof(float);
 
         /// <summary>
         /// A <see cref="SlimMath.Matrix"/> with all of its components set to zero.

BulletSharpPInvoke/Math/Quaternion.cs

@@ -40,7 +40,7 @@ public struct Quaternion : IEquatable<Quaternion>, IFormattable
         /// <summary>
         /// The size of the <see cref="SlimMath.Quaternion"/> type, in bytes.
         /// </summary>
-        public static readonly int SizeInBytes = Marshal.SizeOf(typeof(Quaternion));
+        public const int SizeInBytes = 4 * sizeof(float);
 
         /// <summary>
         /// A <see cref="SlimMath.Quaternion"/> with all of its components set to zero.

BulletSharpPInvoke/Math/Vector3.cs

@@ -38,7 +38,7 @@ public struct Vector3 : IEquatable<Vector3>, IFormattable
         /// <summary>
         /// The size of the <see cref="Vector3"/> type, in bytes.
         /// </summary>
-        public static readonly int SizeInBytes = Marshal.SizeOf(typeof(Vector3));
+        public const int SizeInBytes = 3 * sizeof(float);
 
         /// <summary>
         /// A <see cref="Vector3"/> with all of its components set to zero.

BulletSharpPInvoke/Math/Vector4.cs

@@ -38,7 +38,7 @@ public struct Vector4 : IEquatable<Vector4>, IFormattable
         /// <summary>
         /// The size of the <see cref="SlimMath.Vector4"/> type, in bytes.
         /// </summary>
-        public static readonly int SizeInBytes = Marshal.SizeOf(typeof(Vector4));
+        public const int SizeInBytes = 4 * sizeof(float);
 
         /// <summary>
         /// A <see cref="SlimMath.Vector4"/> with all of its components set to zero.

BulletSharpPInvoke/demos/ConcaveConvexCastDemo/ConcaveConvexCastDemo.cs

@@ -240,7 +240,7 @@ public ConvexcastBatch(float rayLength, float z, float minY, float maxY)
             for (int i = 0; i < NumRays; i++)
             {
                 Matrix transform = Matrix.RotationY(alpha * i);
-                var direction = Vector3.TransformCoordinate(new Vector3(1.0f, 0.0f, 0.0f), transform);
+                var direction = Vector3.TransformCoordinate(Vector3.UnitX, transform);
 
                 _rays[i] = new Ray
                 {