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-CURRENT PROBLEMS TO FIX AND/OR LOOK AT
-=================================================
-Vehicle buoyancy. Computed correctly? Possibly creating very large effective mass.
-    Interaction of llSetBuoyancy and vehicle buoyancy. Should be additive?
-    Negative buoyancy computed correctly
-Center-of-gravity
-Computation of mesh mass. How done? How should it be done?
-Enable vehicle border crossings (at least as poorly as ODE)
-        Terrain skirts
-        Avatar created in previous region and not new region when crossing border
-        Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
-User settable terrain mesh
-        Allow specifying as convex or concave and use different getHeight functions depending
-Boats, when turning nose down into the water
-        Acts like rotation around Z is also effecting rotation around X and Y
-Deleting a linkset while standing on the root will leave the physical shape of the root behind.
-        Not sure if it is because standing on it. Done with large prim linksets.
-Linkset child rotations.
-        Nebadon spiral tube has middle sections which are rotated wrong.
-        Select linked spiral tube. Delink and note where the middle section ends up.
-Teravus llMoveToTarget script debug
-        Mixing of hover, buoyancy/gravity, moveToTarget, into one force
-        Setting hover height to zero disables hover even if hover flags are on (from SL wiki)
-limitMotorUp calibration (more down?)
-llRotLookAt
-llLookAt
-Convert to avatar mesh capsule. Include rotation of capsule.
-Vehicle script tuning/debugging
-        Avanti speed script
-        Weapon shooter script
-Move material definitions (friction, ...) into simulator.
-osGetPhysicsEngineVerion() and create a version code for the C++ DLL
-One sided meshes? Should terrain be built into a closed shape?
-        When meshes get partially wedged into the terrain, they cannot push themselves out.
-        It is possible that Bullet processes collisions whether entering or leaving a mesh.
-        Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
-Small physical objects do not interact correctly
-    Create chain of .5x.5x.1 torui and make all but top physical so to hang.
-        The chain will fall apart and pairs will dance around on ground
-    Chains of 1x1x.2 will stay connected but will dance.
-    Chains above 2x2x.4 are more stable and get stablier as torui get larger.
-VEHICLES TODO LIST:
-=================================================
-LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers.
-        What are the limits in SL?
-        Same for other velocity settings.
-UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims:
-        https://github.com/UbitUmarov/Ubit-opensim
-Some vehicles should not be able to turn if no speed or off ground.
-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.
-Implement referenceFrame for all the motion routines.
-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.
-Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
-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.
-Vehicle attributes are not restored when a vehicle is rezzed on region creation
-        Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized.
-What to do if vehicle and prim buoyancy differ?
-GENERAL TODO LIST:
-=================================================
-Resitution of a prim works on another prim but not on terrain.
-        The dropped prim doesn't bounce properly on the terrain.
-Add a sanity check for PIDTarget location.
-Level-of-detail for mesh creation. Prims with circular interiors require lod of 32.
-        Is much saved with lower LODs? At the moment, all set to 32.
-Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't.
-        If arrow show at prim, collision reported about 1/3 of time. If collision reported,
-        both arrow and prim report it. The arrow bounces off the prim 9 out of 10 times.
-        Shooting 5m sphere "arrows" at 60m/s.
-llMoveToTarget objects are not effected by gravity until target is removed.
-Compute CCD parameters based on body size
-Can solver iterations be changed per body/shape? Can be for constraints but what
-        about regular vehicles?
-Implement llSetPhysicalMaterial.
-        extend it with Center-of-mass, rolling friction, density
-Implement llSetForceAndTorque.
-Change BSPrim.moveToTarget to used forces rather than changing position
-        Changing position allows one to move through walls
-Implement an avatar mesh shape. The Bullet capsule is way too limited.
-        Consider just hand creating a vertex/index array in a new BSShapeAvatar.
-Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain.
-Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
-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.
-Gun sending shooter flying.
-Collision margin (gap between physical objects lying on each other)
-Boundry checking (crashes related to crossing boundry)
-    Add check for border edge position for avatars and objects.
-    Verify the events are created for border crossings.
-Implement ShapeCollection.Dispose()
-Implement water as a plain or mesh so raycasting and collisions can happen with same.
-Add collision penetration return
-        Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance()
-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?
-Selecting and deselecting physical objects causes CPU processing time to jump
-        http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1
-        put thousand physical objects, select and deselect same. CPU time will be large.
-Re-implement buoyancy as a separate force on the object rather than diddling gravity.
-        Register a pre-step event to add the force.
-More efficient memory usage when passing hull information from BSPrim to BulletSim
-Physical and phantom will drop through the terrain
-LINKSETS
-======================================================
-Child prims do not report collisions
-Allow children of a linkset to be phantom:
-        http://opensim-dev.2196679.n2.nabble.com/Setting-a-single-child-prim-to-Phantom-tp7578513.html
-        Add OS_STATUS_PHANTOM_PRIM to llSetLinkPrimitaveParamsFast.
-Editing a child of a linkset causes the child to go phantom
-        Move a child prim once when it is physical and can never move it again without it going phantom
-Offset the center of the linkset to be the geometric center of all the prims
-        Not quite the same as the center-of-gravity
-Linksets should allow collisions to individual children
-        Add LocalID to children shapes in LinksetCompound and create events for individuals
-LinksetCompound: when one of the children changes orientation (like tires
-        turning on a vehicle, the whole compound object is rebuilt. Optimize this
-        so orientation/position of individual children can change without a rebuild.
-Verify/think through scripts in children of linksets. What do they reference
-        and return when getting position, velocity, ...
-Confirm constraint linksets still work after making all the changes for compound linksets.
-Use PostTaint callback to do rebuilds for constraint linksets to reduce rebuilding
-Add 'changed' flag or similar to reduce the number of times a linkset is rebuilt.
-        For compound linksets, add ability to remove or reposition individual child shapes.
-Speed up creation of large physical linksets
-        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
-======================================================
-Compute avatar size and scale correctly. Now it is a bit off from the capsule size.
-Create tests for different interface components
-        Have test objects/scripts measure themselves and turn color if correct/bad
-        Test functions in SL and calibrate correctness there
-        Create auto rezzer and tracker to run through the tests
-Do we need to do convex hulls all the time? Can complex meshes be left meshes?
-        There is some problem with meshes and collisions
-        Hulls are not as detailed as meshes. Hulled vehicles insides are different shape.
-Debounce avatar contact so legs don't keep folding up when standing.
-Add border extensions to terrain to help region crossings and objects leaving region.
-Use a different capsule shape for avatar when sitting
-        LL uses a pyrimidal shape scaled by the avatar's bounding box
-        http://wiki.secondlife.com/wiki/File:Avmeshforms.png
-Performance test with lots of avatars. Can BulletSim support a thousand?
-Optimize collisions in C++: only send up to the object subscribed to collisions.
-    Use collision subscription and remove the collsion(A,B) and collision(B,A)
-Check whether SimMotionState needs large if statement (see TODO).
-Implement 'top colliders' info.
-Avatar jump
-Performance measurement and changes to make quicker.
-Implement detailed physics stats (GetStats()).
-Measure performance improvement from hulls
-Test not using ghost objects for volume detect implementation.
-Performance of closures and delegates for taint processing
-        Are there faster ways?
-        Is any slowdown introduced by the existing implementation significant?
-Is there are more efficient method of implementing pre and post step actions?
-        See http://www.codeproject.com/Articles/29922/Weak-Events-in-C
-Physics Arena central pyramid: why is one side permiable?
-In SL, perfect spheres don't seem to have rolling friction. Add special case.
-Enforce physical parameter min/max:
-        Gravity: [-1, 28]
-        Friction: [0, 255]
-        Density: [1, 22587]
-        Restitution [0, 1]
-        http://wiki.secondlife.com/wiki/Physics_Material_Settings_test
-Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/31796/1.html
-Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale.html
-INTERNAL IMPROVEMENT/CLEANUP
-=================================================
-Create the physical wrapper classes (BulletBody, BulletShape) by methods on
-        BSAPITemplate and make their actual implementation Bullet engine specific.
-        For the short term, just call the existing functions in ShapeCollection.
-Consider moving prim/character body and shape destruction in destroy()
-        to postTimeTime rather than protecting all the potential sets that
-        might have been queued up.
-Remove unused fields from ShapeData (not used in API2)
-Remove unused fields from pinned memory shared parameter block
-        Create parameter variables in BSScene to replace same.
-Breakout code for mesh/hull/compound/native into separate BSShape* classes
-    Standardize access to building and reference code.
-        The skeleton classes are in the sources but are not complete or linked in.
-Make BSBody and BSShape real classes to centralize creation/changin/destruction
-        Convert state and parameter calls from BulletSimAPI direct calls to
-                calls on BSBody and BSShape
-Generalize Dynamics and PID with standardized motors.
-Generalize Linkset and vehicles into PropertyManagers
-    Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies
-        Potentially add events for shape destruction, etc.
-Better mechanism for resetting linkset set and vehicle parameters when body rebuilt.
-        BSPrim.CreateGeomAndObject is kludgy with the callbacks, etc.
-Implement linkset by setting position of children when root updated. (LinksetManual)
-        Linkset implementation using manual prim movement.
-LinkablePrim class? Would that simplify/centralize the linkset logic?
-BSScene.UpdateParameterSet() is broken. How to set params on objects?
-Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will
-    bob at the water level. BSPrim.PositionSanityCheck()
-Should taints check for existance or activeness of target?
-        When destroying linksets/etc, taints can be generated for objects that are
-        actually gone when the taint happens. Crashes don't happen because the taint closure
-        keeps the object from being freed, but that is just an accident.
-        Possibly have an 'active' flag that is checked by the taint processor?
-Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones)
-Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'?
-There are TOO MANY interfaces from BulletSim core to Bullet itself
-        Think of something to eliminate one or more of the layers
-THREADING
-=================================================
-Do taint action immediately if not actually executing Bullet.
-        Add lock around Bullet execution and just do taint actions if simulation is not happening.
-DONE DONE DONE DONE
-=================================================
-Cleanup code in BSDynamics by using motors. (Resolution: started)
-Consider implementing terrain with a mesh rather than heightmap. (Resolution: done)
-    Would have better and adjustable resolution.
-Build terrain mesh so heighmap is height of the center of the square meter.
-    Resolution: NOT DONE: SL and ODE define meter square as being at one corner with one diagional.
-Terrain as mesh. (Resolution: done)
-How are static linksets seen by the physics engine?
-    Resolution: they are not linked in physics. When moved, all the children are repositioned.
-Convert BSCharacter to use all API2 (Resolution: done)
-Avatar pushing difficult (too heavy?)
-Use asset service passed to BulletSim to get sculptie bodies, etc. (Resolution: done)
-Remove old code in DLL (all non-API2 stuff). (Resolution: done)
-Measurements of mega-physical prim performance (with graph) (Resolution: done, email)
-Debug Bullet internal stats output (why is timing all wrong?)
-        Resolution: Bullet stats logging only works with a single instance of Bullet (one region).
-Implement meshes or just verify that they work. (Resolution: they do!)
-Do prim hash codes work for sculpties and meshes? (Resolution: yes)
-Linkset implementation using compound shapes. (Resolution: implemented LinksetCompound)
-    Compound shapes will need the LocalID in the shapes and collision
-    processing to get it from there.
-Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.)
-Package Bullet source mods for Bullet internal stats output
-        (Resolution: move code into WorldData.h rather than relying on patches)
-Single prim vehicles don't seem to properly vehiclize.
-        (Resolution: mass was not getting set properly for single prim linksets)
-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)
-Smooth avatar movement with motor (DONE)
-        Should motor update be all at taint-time? (Yes, DONE)
-        Fix avatar slowly sliding when standing (zero motion when stopped) (DONE)
-        (Resolution: added BSVMotor for avatar starting and stopping)
-llApplyImpulse()
-        Compare mass/movement in OS and SL. Calibrate actions.  (DONE)
-        (Resolution: tested on SL and OS. AddForce scales the force for timestep)
-llSetBuoyancy() (DONE)
-        (Resolution: Bullet resets object gravity when added to world. Moved set gravity)
-Avatar density is WAY off. Compare and calibrate with what's in SL. (DONE)
-        (Resolution: set default density to 3.5 (from 60) which is closer to SL)
-Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE)
-        (Resolution: added BSAPITemplate and then interfaces for C++ Bullet and C# BulletXNA
-Meshes rendering as bounding boxes (DONE)
-        (Resolution: Added test for mesh/sculpties in native shapes so it didn't think it was a box)
-llMoveToTarget (Resolution: added simple motor to update the position.)
-Angular motor direction is global coordinates rather than local coordinates (DONE)
-Add vehicle collisions so IsColliding is properly reported. (DONE)
-        Needed for banking, limitMotorUp, movementLimiting, ...
-        (Resolution: added CollisionFlags.BS_VEHICLE_COLLISION and code to use it)
-VehicleAddForce is not scaled by the simulation step but it is only
-        applied for one step. Should it be scaled? (DONE)
-        (Resolution: use force for timed things, Impulse for immediate, non-timed things)
-Complete implemention of preStepActions (DONE)
-        Replace vehicle step call with prestep event.
-        Is there a need for postStepActions? postStepTaints?
-Disable activity of passive linkset children. (DONE)
-        Since the linkset is a compound object, the old prims are left lying
-        around and need to be phantomized so they don't collide, ...
-Remove HeightmapInfo from terrain specification (DONE)
-    Since C++ code does not need terrain height, this structure et al are not needed.
-Surfboard go wonky when turning (DONE)
-        Angular motor direction is global coordinates rather than local coordinates?
-        (Resolution: made angular motor direction correct coordinate system)
-Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE)
-        Msg Kayaker on OSGrid when working
-        (Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the
-        same in SL as in OS/BulletSim)
-Boats float low in the water (DONE)
-Boats floating at proper level (DONE)
-When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
-        (Resolution: setForce registers a prestep action which keeps applying the force)
-Child movement in linkset (don't rebuild linkset) (DONE 20130122))
-Avatar standing on a moving object should start to move with the object. (DONE 20130125)
-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.
-        DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.
-Nebadon vehicles turning funny in arena (DONE)
-Lock axis (DONE 20130401)
-Terrain detail: double terrain mesh detail (DONE)
-Use the HACD convex hull routine in Bullet rather than the C# version.  
-        Speed up hullifying large meshes. (DONE)
-Vehicle ride, get up, ride again. Second time vehicle does not act correctly.
-        Have to rez new vehicle and delete the old to fix situation.
-        (DONE 20130520: normalize rotations)
-Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd
-        position state where it will not settle onto ground properly, etc
-        (DONE 20130520: normalize rotations)
-Two of Nebadon vehicles in a sim max the CPU. This is new.
-        (DONE 20130520: two problems: if asset failed to mesh, constantly refetched
-        asset; vehicle was sending too many messages to all linkset members)
-Add material densities to the material types. (WILL NOT BE DONE: not how it is done)
-Avatars walking up stairs (DONE)
-Avatar movement
-        flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
-        walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE)
-        avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
-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
-        (DONE)
-Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects.
-        Regular triangle meshes don't do physical collisions.
-        (DONE: discovered GImpact is VERY CPU intensive)
-Script changing rotation of child prim while vehicle moving (eg turning wheel) causes
-        the wheel to appear to jump back. Looks like sending position from previous update.
-        (DONE: redo of compound linksets fixed problem)
-Refarb compound linkset creation to create a pseudo-root for center-of-mass
-        Let children change their shape to physical indendently and just add shapes to compound
-        (DONE: redo of compound linkset fixed problem)
-Vehicle angular vertical attraction     (DONE: vegaslon code)
-vehicle angular banking (DONE: vegaslon code)
-Vehicle angular deflection      (DONE: vegaslon code)
-        Preferred orientation angular correction fix
-Vehicles (Move smoothly)
-For limitMotorUp, use raycast down to find if vehicle is in the air.
-        (WILL NOT BE DONE: gravity does the job well enough)
-BSPrim.Force should set a continious force on the prim. The force should be
-        applied each tick.  Some limits?
-        (DONE: added physical actors. Implemented SetForce, SetTorque, ...)
-Implement LSL physics controls. Like STATUS_ROTATE_X. (DONE)
-Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
-Avatar rotation (check out changes to ScenePresence for physical rotation) (DONE)
-Avatar running (what does phys engine need to do?) (DONE: multiplies run factor by walking force)
-setForce should set a constant force. Different than AddImpulse. (DONE)
-Add PID motor for avatar movement (slow to stop, ...) (WNBD: current works ok)
-Avatar movement motor check for zero or small movement. Somehow suppress small movements
-        when avatar has stopped and is just standing. Simple test for near zero has
-        the problem of preventing starting up (increase from zero) especially when falling.
-        (DONE: avatar movement actor knows if standing on stationary object and zeros motion)
-Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to
-        BSScene.TaintedObject() could immediately execute the callback if already in taint time.
-        (DONE)