1 files changed, 82 insertions, 49 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 8a15abe..0453376 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,65 +1,61 @@
-CURRENT PRIORITIES
+CURRENT PROBLEMS TO FIX AND/OR LOOK AT
 =================================================
-Use the HACD convex hull routine in Bullet rather than the C# version.  
-        Speed up hullifying large meshes.
+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)
-Lock axis
+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.
-Vehicle angular vertical attraction
-vehicle angular banking
-Center-of-gravity
-Vehicle angular deflection
-        Preferred orientation angular correction fix
-when should angular and linear motor targets be zeroed? when selected?
-        Need a vehicle.clear()? Or an 'else' in prestep if not physical.
 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
-Avatars walking up stairs (HALF 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)
-        avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
+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.
-Add material densities to the material types.
-Terrain detail: double terrain mesh detail
+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:
 =================================================
-Border crossing with linked vehicle causes crash
-        20121129.1411: editting/moving phys object across region boundries causes crash
-            getPos-> btRigidBody::upcast -> getBodyType -> BOOM
-Vehicles (Move smoothly)
+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.
-What to do if vehicle and prim buoyancy differ?
 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.
-For limitMotorUp, use raycast down to find if vehicle is in the air.
 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.
-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)
 Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
         A kludge that isn't fixing the real problem of Bullet adding extra motion.
@@ -68,11 +64,10 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
         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:
 =================================================
-Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects.
-        Regular triangle meshes don't do physical collisions.
 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.
@@ -98,29 +93,15 @@ 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.
-BSPrim.Force should set a continious force on the prim. The force should be
-        applied each tick.  Some limits?
 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.
-Avatar rotation (check out changes to ScenePresence for physical rotation)
-Avatar running (what does phys engine need to do?)
-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.
-Add PID motor for avatar movement (slow to stop, ...)
-setForce should set a constant force. Different than AddImpulse.
-Implement raycast.
 Implement ShapeCollection.Dispose()
-Implement water as a plain so raycasting and collisions can happen with same.
+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()
-Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
-        Also osGetPhysicsEngineVerion() maybe.
 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)
@@ -132,9 +113,6 @@ Selecting and deselecting physical objects causes CPU processing time to jump
 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
-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.
 Physical and phantom will drop through the terrain
 
 
@@ -168,6 +146,7 @@ Eliminate collisions between objects in a linkset. (LinksetConstraint)
 
 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
@@ -176,7 +155,6 @@ 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.
-Implement LSL physics controls. Like STATUS_ROTATE_X.
 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
@@ -209,8 +187,6 @@ Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale
 
 INTERNAL IMPROVEMENT/CLEANUP
 =================================================
-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.
 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.
@@ -344,3 +320,60 @@ 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)
+
+
+