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authorRobert Adams2012-12-24 08:56:02 -0800
committerRobert Adams2012-12-24 08:56:02 -0800
commit80cee1b85a646045c02e2bb675056d532ce2fe27 (patch)
treedc9347a2eeb3241cdd30f50d448b630ce5d5c4f9
parent* Update BulletSimN terrain implementation to default to Heightfield, it's le... (diff)
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BulletSim: Fix single physical prim reporting its mass as zero.
Properly return root mass as mass of just the root prim rather than the mass of the linkset. SOG has the logic to add the masses together to get the linkset mass. Update TODO list.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs9
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs20
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs13
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs6
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs3
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs71
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt15
7 files changed, 83 insertions, 54 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 8e059ee..bf0545a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -174,7 +174,7 @@ public sealed class BSCharacter : BSPhysObject
174 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); 174 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
175 } 175 }
176 176
177 UpdatePhysicalMassProperties(RawMass); 177 UpdatePhysicalMassProperties(RawMass, false);
178 178
179 // Make so capsule does not fall over 179 // Make so capsule does not fall over
180 BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); 180 BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
@@ -224,7 +224,7 @@ public sealed class BSCharacter : BSPhysObject
224 if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) 224 if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
225 { 225 {
226 BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); 226 BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
227 UpdatePhysicalMassProperties(RawMass); 227 UpdatePhysicalMassProperties(RawMass, true);
228 // Make sure this change appears as a property update event 228 // Make sure this change appears as a property update event
229 BulletSimAPI.PushUpdate2(PhysBody.ptr); 229 BulletSimAPI.PushUpdate2(PhysBody.ptr);
230 } 230 }
@@ -390,7 +390,7 @@ public sealed class BSCharacter : BSPhysObject
390 public override float RawMass { 390 public override float RawMass {
391 get {return _mass; } 391 get {return _mass; }
392 } 392 }
393 public override void UpdatePhysicalMassProperties(float physMass) 393 public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
394 { 394 {
395 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); 395 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
396 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); 396 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
@@ -772,8 +772,9 @@ public sealed class BSCharacter : BSPhysObject
772 // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer. 772 // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
773 if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) 773 if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
774 { 774 {
775 stepVelocity = OMV.Vector3.Zero;
776 _velocityMotor.Enabled = false; 775 _velocityMotor.Enabled = false;
776 stepVelocity = OMV.Vector3.Zero;
777 ZeroMotion(true);
777 DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor); 778 DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
778 } 779 }
779 780
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 8580928..756faed 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -97,14 +97,7 @@ public abstract class BSLinkset
97 } 97 }
98 98
99 // We keep the prim's mass in the linkset structure since it could be dependent on other prims 99 // We keep the prim's mass in the linkset structure since it could be dependent on other prims
100 protected float m_mass; 100 public float LinksetMass { get; protected set; }
101 public float LinksetMass
102 {
103 get
104 {
105 return m_mass;
106 }
107 }
108 101
109 public virtual bool LinksetIsColliding { get { return false; } } 102 public virtual bool LinksetIsColliding { get { return false; } }
110 103
@@ -128,7 +121,7 @@ public abstract class BSLinkset
128 PhysicsScene = scene; 121 PhysicsScene = scene;
129 LinksetRoot = parent; 122 LinksetRoot = parent;
130 m_children = new HashSet<BSPhysObject>(); 123 m_children = new HashSet<BSPhysObject>();
131 m_mass = parent.RawMass; 124 LinksetMass = parent.RawMass;
132 Rebuilding = false; 125 Rebuilding = false;
133 } 126 }
134 127
@@ -143,7 +136,7 @@ public abstract class BSLinkset
143 // Don't add the root to its own linkset 136 // Don't add the root to its own linkset
144 if (!IsRoot(child)) 137 if (!IsRoot(child))
145 AddChildToLinkset(child); 138 AddChildToLinkset(child);
146 m_mass = ComputeLinksetMass(); 139 LinksetMass = ComputeLinksetMass();
147 } 140 }
148 return this; 141 return this;
149 } 142 }
@@ -162,7 +155,7 @@ public abstract class BSLinkset
162 return this; 155 return this;
163 } 156 }
164 RemoveChildFromLinkset(child); 157 RemoveChildFromLinkset(child);
165 m_mass = ComputeLinksetMass(); 158 LinksetMass = ComputeLinksetMass();
166 } 159 }
167 160
168 // The child is down to a linkset of just itself 161 // The child is down to a linkset of just itself
@@ -230,7 +223,10 @@ public abstract class BSLinkset
230 // When physical properties are changed the linkset needs to recalculate 223 // When physical properties are changed the linkset needs to recalculate
231 // its internal properties. 224 // its internal properties.
232 // May be called at runtime or taint-time. 225 // May be called at runtime or taint-time.
233 public abstract void Refresh(BSPhysObject requestor); 226 public virtual void Refresh(BSPhysObject requestor)
227 {
228 LinksetMass = ComputeLinksetMass();
229 }
234 230
235 // Flag denoting the linkset is in the process of being rebuilt. 231 // Flag denoting the linkset is in the process of being rebuilt.
236 // Used to know not the schedule a rebuild in the middle of a rebuild. 232 // Used to know not the schedule a rebuild in the middle of a rebuild.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 2a7b72c..d5cbf5f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -5,7 +5,7 @@
5 * Redistribution and use in source and binary forms, with or without 5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer. 8 * notice, this list of conditions and the following disclat simer.
9 * * Redistributions in binary form must reproduce the above copyrightD 9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the 10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution. 11 * documentation and/or other materials provided with the distribution.
@@ -89,6 +89,8 @@ public sealed class BSLinksetCompound : BSLinkset
89 // its internal properties. 89 // its internal properties.
90 public override void Refresh(BSPhysObject requestor) 90 public override void Refresh(BSPhysObject requestor)
91 { 91 {
92 base.Refresh(requestor);
93
92 // Something changed so do the rebuilding thing 94 // Something changed so do the rebuilding thing
93 // ScheduleRebuild(); 95 // ScheduleRebuild();
94 } 96 }
@@ -96,13 +98,13 @@ public sealed class BSLinksetCompound : BSLinkset
96 // Schedule a refresh to happen after all the other taint processing. 98 // Schedule a refresh to happen after all the other taint processing.
97 private void ScheduleRebuild(BSPhysObject requestor) 99 private void ScheduleRebuild(BSPhysObject requestor)
98 { 100 {
99 DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}", 101 DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}",
100 requestor.LocalID, Rebuilding); 102 requestor.LocalID, Rebuilding);
101 // When rebuilding, it is possible to set properties that would normally require a rebuild. 103 // When rebuilding, it is possible to set properties that would normally require a rebuild.
102 // If already rebuilding, don't request another rebuild. 104 // If already rebuilding, don't request another rebuild.
103 if (!Rebuilding) 105 if (!Rebuilding)
104 { 106 {
105 PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", LinksetRoot.LocalID, delegate() 107 PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
106 { 108 {
107 if (HasAnyChildren) 109 if (HasAnyChildren)
108 RecomputeLinksetCompound(); 110 RecomputeLinksetCompound();
@@ -123,7 +125,6 @@ public sealed class BSLinksetCompound : BSLinkset
123 if (IsRoot(child)) 125 if (IsRoot(child))
124 { 126 {
125 // The root is going dynamic. Make sure mass is properly set. 127 // The root is going dynamic. Make sure mass is properly set.
126 m_mass = ComputeLinksetMass();
127 ScheduleRebuild(LinksetRoot); 128 ScheduleRebuild(LinksetRoot);
128 } 129 }
129 else 130 else
@@ -377,8 +378,8 @@ public sealed class BSLinksetCompound : BSLinkset
377 }); 378 });
378 379
379 // With all of the linkset packed into the root prim, it has the mass of everyone. 380 // With all of the linkset packed into the root prim, it has the mass of everyone.
380 float linksetMass = LinksetMass; 381 LinksetMass = LinksetMass;
381 LinksetRoot.UpdatePhysicalMassProperties(linksetMass); 382 LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
382 } 383 }
383 finally 384 finally
384 { 385 {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index d95f223..6b592e7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -46,6 +46,8 @@ public sealed class BSLinksetConstraints : BSLinkset
46 // refresh will happen once after all the other taints are applied. 46 // refresh will happen once after all the other taints are applied.
47 public override void Refresh(BSPhysObject requestor) 47 public override void Refresh(BSPhysObject requestor)
48 { 48 {
49 base.Refresh(requestor);
50
49 // Queue to happen after all the other taint processing 51 // Queue to happen after all the other taint processing
50 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() 52 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
51 { 53 {
@@ -279,7 +281,7 @@ public sealed class BSLinksetConstraints : BSLinkset
279 private void RecomputeLinksetConstraints() 281 private void RecomputeLinksetConstraints()
280 { 282 {
281 float linksetMass = LinksetMass; 283 float linksetMass = LinksetMass;
282 LinksetRoot.UpdatePhysicalMassProperties(linksetMass); 284 LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
283 285
284 // DEBUG: see of inter-linkset collisions are causing problems 286 // DEBUG: see of inter-linkset collisions are causing problems
285 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 287 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
@@ -292,7 +294,7 @@ public sealed class BSLinksetConstraints : BSLinkset
292 // A child in the linkset physically shows the mass of the whole linkset. 294 // A child in the linkset physically shows the mass of the whole linkset.
293 // This allows Bullet to apply enough force on the child to move the whole linkset. 295 // This allows Bullet to apply enough force on the child to move the whole linkset.
294 // (Also do the mass stuff before recomputing the constraint so mass is not zero.) 296 // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
295 child.UpdatePhysicalMassProperties(linksetMass); 297 child.UpdatePhysicalMassProperties(linksetMass, true);
296 298
297 BSConstraint constrain; 299 BSConstraint constrain;
298 if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) 300 if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index c76f869..4bed535 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -96,7 +96,8 @@ public abstract class BSPhysObject : PhysicsActor
96 // Return the object mass without calculating it or having side effects 96 // Return the object mass without calculating it or having side effects
97 public abstract float RawMass { get; } 97 public abstract float RawMass { get; }
98 // Set the raw mass but also update physical mass properties (inertia, ...) 98 // Set the raw mass but also update physical mass properties (inertia, ...)
99 public abstract void UpdatePhysicalMassProperties(float mass); 99 // 'inWorld' true if the object has already been added to the dynamic world.
100 public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
100 101
101 // The last value calculated for the prim's inertia 102 // The last value calculated for the prim's inertia
102 public OMV.Vector3 Inertia { get; set; } 103 public OMV.Vector3 Inertia { get; set; }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 26b8df5..159f79f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -115,6 +115,8 @@ public sealed class BSPrim : BSPhysObject
115 PhysBody = new BulletBody(LocalID); 115 PhysBody = new BulletBody(LocalID);
116 PhysShape = new BulletShape(); 116 PhysShape = new BulletShape();
117 117
118 Linkset.Refresh(this);
119
118 DetailLog("{0},BSPrim.constructor,call", LocalID); 120 DetailLog("{0},BSPrim.constructor,call", LocalID);
119 // do the actual object creation at taint time 121 // do the actual object creation at taint time
120 PhysicsScene.TaintedObject("BSPrim.create", delegate() 122 PhysicsScene.TaintedObject("BSPrim.create", delegate()
@@ -384,13 +386,13 @@ public sealed class BSPrim : BSPhysObject
384 } 386 }
385 387
386 // Return the effective mass of the object. 388 // Return the effective mass of the object.
387 // If there are multiple items in the linkset, add them together for the root 389 // The definition of this call is to return the mass of the prim.
390 // If the simulator cares about the mass of the linkset, it will sum it itself.
388 public override float Mass 391 public override float Mass
389 { 392 {
390 get 393 get
391 { 394 {
392 return Linkset.LinksetMass; 395 return _mass;
393 // return _mass;
394 } 396 }
395 } 397 }
396 398
@@ -400,22 +402,41 @@ public sealed class BSPrim : BSPhysObject
400 } 402 }
401 // Set the physical mass to the passed mass. 403 // Set the physical mass to the passed mass.
402 // Note that this does not change _mass! 404 // Note that this does not change _mass!
403 public override void UpdatePhysicalMassProperties(float physMass) 405 public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
404 { 406 {
405 if (IsStatic) 407 if (PhysBody.HasPhysicalBody)
406 { 408 {
407 Inertia = OMV.Vector3.Zero; 409 if (IsStatic)
408 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); 410 {
409 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 411 Inertia = OMV.Vector3.Zero;
410 } 412 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
411 else 413 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
412 { 414 }
413 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); 415 else
414 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); 416 {
415 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 417 if (inWorld)
416 // center of mass is at the zero of the object 418 {
417 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); 419 // Changing interesting properties doesn't change proxy and collision cache
418 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia); 420 // information. The Bullet solution is to re-add the object to the world
421 // after parameters are changed.
422 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
423 }
424
425 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
426 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
427
428 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
429 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
430 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
431 // center of mass is at the zero of the object
432 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
433 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia);
434
435 if (inWorld)
436 {
437 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
438 }
439 }
419 } 440 }
420 } 441 }
421 442
@@ -714,7 +735,7 @@ public sealed class BSPrim : BSPhysObject
714 Linkset.Refresh(this); 735 Linkset.Refresh(this);
715 736
716 DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", 737 DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
717 LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); 738 LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
718 } 739 }
719 740
720 // "Making dynamic" means changing to and from static. 741 // "Making dynamic" means changing to and from static.
@@ -737,7 +758,7 @@ public sealed class BSPrim : BSPhysObject
737 BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); 758 BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
738 759
739 // Mass is zero which disables a bunch of physics stuff in Bullet 760 // Mass is zero which disables a bunch of physics stuff in Bullet
740 UpdatePhysicalMassProperties(0f); 761 UpdatePhysicalMassProperties(0f, false);
741 // Set collision detection parameters 762 // Set collision detection parameters
742 if (BSParam.CcdMotionThreshold > 0f) 763 if (BSParam.CcdMotionThreshold > 0f)
743 { 764 {
@@ -777,7 +798,7 @@ public sealed class BSPrim : BSPhysObject
777 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); 798 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
778 799
779 // A dynamic object has mass 800 // A dynamic object has mass
780 UpdatePhysicalMassProperties(RawMass); 801 UpdatePhysicalMassProperties(RawMass, false);
781 802
782 // Set collision detection parameters 803 // Set collision detection parameters
783 if (BSParam.CcdMotionThreshold > 0f) 804 if (BSParam.CcdMotionThreshold > 0f)
@@ -950,13 +971,9 @@ public sealed class BSPrim : BSPhysObject
950 set { 971 set {
951 _buoyancy = value; 972 _buoyancy = value;
952 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 973 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
953 // Buoyancy is faked by changing the gravity applied to the object 974 // Force the recalculation of the various inertia,etc variables in the object
954 if (PhysBody.HasPhysicalBody) 975 UpdatePhysicalMassProperties(_mass, true);
955 { 976 ActivateIfPhysical(false);
956 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
957 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
958 ActivateIfPhysical(false);
959 }
960 } 977 }
961 } 978 }
962 979
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 9a7e965..0f27d67 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,11 +1,17 @@
1CURRENT PRIORITIES 1CURRENT PRIORITIES
2================================================= 2=================================================
3Smooth avatar movement with motor 3Smooth avatar movement with motor (DONE)
4 Should motor update be all at taint-time? 4 Should motor update be all at taint-time? (Yes, DONE)
5 Fix avatar slowly sliding when standing (zero motion when stopped)
6llApplyImpulse()
7 Compare mass/movement in OS and SL. Calibrate actions.
8llSetBuoyancy()
9Boats float low in the water
5Enable vehicle border crossings (at least as poorly as ODE) 10Enable vehicle border crossings (at least as poorly as ODE)
6 Terrain skirts 11 Terrain skirts
7 Avatar created in previous region and not new region when crossing border 12 Avatar created in previous region and not new region when crossing border
8 Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) 13 Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
14Add material densities to the material types.
9Vehicle movement on terrain smoothness 15Vehicle movement on terrain smoothness
10Vehicle script tuning/debugging 16Vehicle script tuning/debugging
11 Avanti speed script 17 Avanti speed script
@@ -52,6 +58,8 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
52 58
53BULLETSIM TODO LIST: 59BULLETSIM TODO LIST:
54================================================= 60=================================================
61In SL, perfect spheres don't seem to have rolling friction. Add special case.
62Avatar density is WAY off. Compare and calibrate with what's in SL.
55Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. 63Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
56Duplicating a physical prim causes old prim to jump away 64Duplicating a physical prim causes old prim to jump away
57 Dup a phys prim and the original become unselected and thus interacts w/ selected prim. 65 Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
@@ -82,6 +90,9 @@ Linkset.Position and Linkset.Orientation requre rewrite to properly return
82Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F) 90Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F)
83Should the different PID factors have non-equal contributions for different 91Should the different PID factors have non-equal contributions for different
84 values of Efficiency? 92 values of Efficiency?
93Selecting and deselecting physical objects causes CPU processing time to jump
94 http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1
95 put thousand physical objects, select and deselect same. CPU time will be large.
85 96
86LINKSETS 97LINKSETS
87====================================================== 98======================================================