1 files changed, 22 insertions, 11 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index ad4e42b..8a9aec9 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -8,9 +8,10 @@ Enable vehicle border crossings (at least as poorly as ODE)
         Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
 Calibrate turning radius (DONE)
 limitMotorUp calibration (more down?)
-study PID motors (include 'efficiency' implementation
+study PID motors (include 'efficiency' implementation (DONE)
         Add to avatar movement
 
+
 CRASHES
 =================================================
 20121129.1411: editting/moving phys object across region boundries causes crash
@@ -25,7 +26,6 @@ CRASHES
 VEHICLES TODO LIST:
 =================================================
 Border crossing with linked vehicle causes crash
-Neb vehicle taking > 25ms of physics time!!
 Vehicles (Move smoothly)
 Add vehicle collisions so IsColliding is properly reported.
         Needed for banking, limitMotorUp, movementLimiting, ...
@@ -34,28 +34,25 @@ Cannot edit/move a vehicle being ridden: it jumps back to the origional position
 Neb car jiggling left and right
         Happens on terrain and any other mesh object. Flat cubes are much smoother.
         This has been reduced but not eliminated.
-Light cycle falling over when driving
 Implement referenceFrame for all the motion routines.
 Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
         Verify that angular motion specified around Z moves in the vehicle coordinates.
 Verify llGetVel() is returning a smooth and good value for vehicle movement.
 llGetVel() should return the root's velocity if requested in a child prim.
 Implement function efficiency for lineaar and angular motion.
-Should vehicle angular/linear movement friction happen after all the components
-        or does it only apply to the basic movement?
 After getting off a vehicle, the root prim is phantom (can be walked through)
     Need to force a position update for the root prim after compound shape destruction
 Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
 For limitMotorUp, use raycast down to find if vehicle is in the air.
 Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
         A kludge that isn't fixing the real problem of Bullet adding extra motion.
+Incorporate inter-relationship of angular corrections. For instance, angularDeflection
+        and angularMotorUp will compute same X or Y correction. When added together
+        creates over-correction and over-shoot and wabbling.
 
 BULLETSIM TODO LIST:
 =================================================
 Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
-Avatar height off after unsitting (floats off ground)
-        Editting appearance then moving restores.
-        Must not be initializing height when recreating capsule after unsit.
 Duplicating a physical prim causes old prim to jump away
         Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
 Scenes with hundred of thousands of static objects take a lot of physics CPU time.
@@ -83,6 +80,8 @@ Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
 Linkset.Position and Linkset.Orientation requre rewrite to properly return
         child position. LinksetConstraint acts like it's at taint time!!
 Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F)
+Should the different PID factors have non-equal contributions for different
+        values of Efficiency?
 
 LINKSETS
 ======================================================
@@ -100,17 +99,16 @@ Disable activity of passive linkset children.
         Since the linkset is a compound object, the old prims are left lying
         around and need to be phantomized so they don't collide, ...
 Speed up creation of large physical linksets
-        For instance, sitting in Neb's car (130 prims) takes several seconds to become physical
+        For instance, sitting in Neb's car (130 prims) takes several seconds to become physical.
+        REALLY bad for very large physical linksets (freezes the sim for many seconds).
 Eliminate collisions between objects in a linkset. (LinksetConstraint)
     Have UserPointer point to struct with localID and linksetID?
     Objects in original linkset still collide with each other?
 
 MORE
 ======================================================
-Find/remove avatar collision with ID=0.
 Test avatar walking up stairs. How does compare with SL.
     Radius of the capsule affects ability to climb edges.
-Tune terrain/object friction to be closer to SL.
 Debounce avatar contact so legs don't keep folding up when standing.
 Implement LSL physics controls. Like STATUS_ROTATE_X.
 Add border extensions to terrain to help region crossings and objects leaving region.
@@ -203,3 +201,16 @@ Single prim vehicles don't seem to properly vehiclize.
 Add material type linkage and input all the material property definitions.
         Skeleton classes and table are in the sources but are not filled or used.
         (Resolution: 
+Neb vehicle taking > 25ms of physics time!!
+        (Resolution: compound linksets were being rebuild WAY too often)
+Avatar height off after unsitting (floats off ground)
+        Editting appearance then moving restores.
+        Must not be initializing height when recreating capsule after unsit.
+        (Resolution: confusion of scale vs size for native objects removed)
+Light cycle falling over when driving (Resolution: implemented angularMotorUp)
+Should vehicle angular/linear movement friction happen after all the components
+        or does it only apply to the basic movement?
+        (Resolution: friction added before returning newly computed motor value.
+        What is expected by some vehicles (turning up friction to moderate speed))
+Tune terrain/object friction to be closer to SL.
+        (Resolution: added material type with friction and resolution)