7 files changed, 143 insertions, 57 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 9ff7084..ae54499 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -166,7 +166,7 @@ public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet
 
     // If Debug logging level, enable logging from the unmanaged code
     m_DebugLogCallbackHandle = null;
-    if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled)
+    if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled)
     {
         BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
         if (PhysicsScene.PhysicsLogging.Enabled)
@@ -212,6 +212,19 @@ public override void Shutdown(BulletWorld world)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BSAPICPP.Shutdown2(worldu.ptr);
+
+    if (m_paramsHandle.IsAllocated)
+    {
+        m_paramsHandle.Free();
+    }
+    if (m_collisionArrayPinnedHandle.IsAllocated)
+    {
+        m_collisionArrayPinnedHandle.Free();
+    }
+    if (m_updateArrayPinnedHandle.IsAllocated)
+    {
+        m_updateArrayPinnedHandle.Free();
+    }
 }
 
 public override bool PushUpdate(BulletBody obj)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index a5fec87..87a06c1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -215,7 +215,7 @@ public sealed class BSCharacter : BSPhysObject
             // Add special movement force to allow avatars to walk up stepped surfaces.
             moveForce += WalkUpStairs();
 
-            DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
+            // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
             PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
         });
     }
@@ -855,7 +855,10 @@ public sealed class BSCharacter : BSPhysObject
         _rotationalVelocity = entprop.RotationalVelocity;
 
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
-        PositionSanityCheck(true);
+        if (PositionSanityCheck(true))
+        {
+            entprop.Position = _position;
+        }
 
         // remember the current and last set values
         LastEntityProperties = CurrentEntityProperties;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index bcebaec..6601479 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -124,9 +124,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         static readonly float PIOverTwo = ((float)Math.PI) / 2f;
 
         // For debugging, flags to turn on and off individual corrections.
-        private bool enableAngularVerticalAttraction = true;
-        private bool enableAngularDeflection = true;
-        private bool enableAngularBanking = true;
+        private bool enableAngularVerticalAttraction;
+        private bool enableAngularDeflection;
+        private bool enableAngularBanking;
 
         public BSDynamics(BSScene myScene, BSPrim myPrim)
         {
@@ -141,8 +141,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         public void SetupVehicleDebugging()
         {
             enableAngularVerticalAttraction = true;
-            enableAngularDeflection = true;
-            enableAngularBanking = true;
+            enableAngularDeflection = false;
+            enableAngularBanking = false;
             if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse)
             {
                 enableAngularVerticalAttraction = false;
@@ -649,6 +649,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private Quaternion m_knownOrientation;
         private Vector3 m_knownRotationalVelocity;
         private Vector3 m_knownRotationalForce;
+        private Vector3 m_knownRotationalImpulse;
         private Vector3 m_knownForwardVelocity;    // vehicle relative forward speed
 
         private const int m_knownChangedPosition           = 1 << 0;
@@ -658,9 +659,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private const int m_knownChangedOrientation        = 1 << 4;
         private const int m_knownChangedRotationalVelocity = 1 << 5;
         private const int m_knownChangedRotationalForce    = 1 << 6;
-        private const int m_knownChangedTerrainHeight      = 1 << 7;
-        private const int m_knownChangedWaterLevel         = 1 << 8;
-        private const int m_knownChangedForwardVelocity    = 1 << 9;
+        private const int m_knownChangedRotationalImpulse  = 1 << 7;
+        private const int m_knownChangedTerrainHeight      = 1 << 8;
+        private const int m_knownChangedWaterLevel         = 1 << 9;
+        private const int m_knownChangedForwardVelocity    = 1 <<10;
 
         private void ForgetKnownVehicleProperties()
         {
@@ -700,6 +702,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
                 }
 
+                if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0)
+                    Prim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/);
+
                 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
                 {
                     Prim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/);
@@ -843,6 +848,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             m_knownChanged |= m_knownChangedRotationalForce;
             m_knownHas |= m_knownChangedRotationalForce;
         }
+        private void VehicleAddRotationalImpulse(Vector3 pImpulse)
+        {
+            if ((m_knownHas & m_knownChangedRotationalImpulse) == 0)
+            {
+                m_knownRotationalImpulse = Vector3.Zero;
+                m_knownHas |= m_knownChangedRotationalImpulse;
+            }
+            m_knownRotationalImpulse += pImpulse;
+            m_knownChanged |= m_knownChangedRotationalImpulse;
+        }
+
         // Vehicle relative forward velocity
         private Vector3 VehicleForwardVelocity
         {
@@ -1031,16 +1047,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 else
                 {
                     // Error is positive if below the target and negative if above.
-                    float verticalError = m_VhoverTargetHeight - VehiclePosition.Z;
-                    float verticalCorrectionVelocity = verticalError / m_VhoverTimescale * pTimestep;
+                    Vector3 hpos = VehiclePosition;
+                    float verticalError = m_VhoverTargetHeight - hpos.Z;
+                    float verticalCorrection = verticalError / m_VhoverTimescale;
+                    verticalCorrection *= m_VhoverEfficiency;
+
+                    hpos.Z += verticalCorrection;
+                    VehiclePosition = hpos;
+
+                    // Since we are hovering, we need to do the opposite of falling -- get rid of world Z
+                    Vector3 vel = VehicleVelocity;
+                    vel.Z = 0f;
+                    VehicleVelocity = vel;
+
+                    /*
+                    float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
+                    Vector3 verticalCorrection = new Vector3(0f, 0f, verticalCorrectionVelocity);
+                    verticalCorrection *= m_vehicleMass;
 
                     // TODO: implement m_VhoverEfficiency correctly
-                    VehicleAddForceImpulse(new Vector3(0f, 0f, verticalCorrectionVelocity));
+                    VehicleAddForceImpulse(verticalCorrection);
+                     */
 
-                    VDetailLog("{0},  MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corrVel={7}",
+                    VDetailLog("{0},  MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}",
                                     Prim.LocalID, VehiclePosition, m_VhoverEfficiency,
                                     m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
-                                    verticalError, verticalCorrectionVelocity);
+                                    verticalError, verticalCorrection);
                 }
 
             }
@@ -1128,8 +1160,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 if (!Prim.IsColliding && VehicleVelocity.Z > 0.1)
                 {
                     // Get rid of any of the velocity vector that is pushing us up.
-                    VehicleVelocity += new Vector3(0, 0, -VehicleVelocity.Z);
+                    float upVelocity = VehicleVelocity.Z;
+                    VehicleVelocity += new Vector3(0, 0, -upVelocity);
 
+                    /*
                     // If we're pointed up into the air, we should nose down
                     Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
                     // The rotation around the Y axis is pitch up or down
@@ -1143,11 +1177,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                         VDetailLog("{0},  MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}",
                                     Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector);
                     }
-                    else
-                    {
-                        VDetailLog("{0},  MoveLinear,limitMotorUp,newVel={1},pntDir={2}",
-                                    Prim.LocalID, VehicleVelocity, pointingDirection);
-                    }
+                        */
+                    VDetailLog("{0},  MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}",
+                                    Prim.LocalID, Prim.IsColliding, upVelocity, VehicleVelocity);
                 }
             }
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 5a1b5c7..8c9a774 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -108,8 +108,8 @@ public sealed class BSLinksetCompound : BSLinkset
     // Schedule a refresh to happen after all the other taint processing.
     private void ScheduleRebuild(BSPhysObject requestor)
     {
-        DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2}", 
-                            requestor.LocalID, Rebuilding, HasAnyChildren);
+        DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", 
+                            requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
         // When rebuilding, it is possible to set properties that would normally require a rebuild.
         //    If already rebuilding, don't request another rebuild.
         //    If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
@@ -195,8 +195,11 @@ public sealed class BSLinksetCompound : BSLinkset
                 && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
         {
             // TODO: replace this with are calculation of the child prim's orientation and pos.
-            updated.LinksetInfo = null;
-            ScheduleRebuild(updated);
+            // TODO: for the moment, don't rebuild the compound shape.
+            //    This is often just the car turning its wheels. When we can just reorient the one
+            //    member shape of the compound shape, the overhead of rebuilding won't be a problem.
+            // updated.LinksetInfo = null;
+            // ScheduleRebuild(updated);
         }
     }
 
@@ -308,7 +311,7 @@ public sealed class BSLinksetCompound : BSLinkset
             else
             {
                 // Rebuild the compound shape with the child removed
-                ScheduleRebuild(child);
+                ScheduleRebuild(LinksetRoot);
             }
         }
         return;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 27ff047..3e80aa4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -94,16 +94,16 @@ public static class BSParam
     public static float PID_D { get; private set; }    // derivative
     public static float PID_P { get; private set; }    // proportional
 
-    // Various constants that come from that other virtual world that shall not be named
+    // Various constants that come from that other virtual world that shall not be named.
     public const float MinGravityZ = -1f;
     public const float MaxGravityZ = 28f;
     public const float MinFriction = 0f;
     public const float MaxFriction = 255f;
-    public const float MinDensity = 0f;
+    public const float MinDensity = 0.01f;
     public const float MaxDensity = 22587f;
     public const float MinRestitution = 0f;
     public const float MaxRestitution = 1f;
-    public const float MaxAddForceMagnitude = 20000f;
+    public const float MaxAddForceMagnitude = 20f;
 
     // ===========================================================================
     public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
@@ -318,13 +318,13 @@ public static class BSParam
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); },
             (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
         new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
-            0f,     // set to zero to disable
+            0.3f,     // set to zero to disable
             (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
             (s) => { return CcdMotionThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
             (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ),
         new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
-            0f,
+            0.2f,
             (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
             (s) => { return CcdSweptSphereRadius; },
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
@@ -465,7 +465,7 @@ public static class BSParam
             (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; },
             (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
             new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
-            ConfigurationParameters.numericFalse,
+            ConfigurationParameters.numericTrue,
             (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
             (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; },
             (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index addab29..9fbfcdc 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -442,7 +442,8 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
+    // Create a mesh, hull or native shape.
+    // Return 'true' if the prim's shape was changed.
     public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
         bool ret = false;
@@ -472,7 +473,7 @@ public sealed class BSShapeCollection : IDisposable
             if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
                         prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
 
-            // It doesn't look like Bullet scales spheres so make sure the scales are all equal
+            // It doesn't look like Bullet scales native spheres so make sure the scales are all equal
             if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
                                 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
             {
@@ -484,9 +485,9 @@ public sealed class BSShapeCollection : IDisposable
                 {
                     ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
                                             FixedShapeKey.KEY_SPHERE, shapeCallback);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.PhysShape);
                 }
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},rebuilt={2},shape={3}",
+                                        prim.LocalID, forceRebuild, ret, prim.PhysShape);
             }
             if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
             {
@@ -498,9 +499,9 @@ public sealed class BSShapeCollection : IDisposable
                 {
                     ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX,
                                             FixedShapeKey.KEY_BOX, shapeCallback);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.PhysShape);
                 }
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},rebuilt={2},shape={3}",
+                                        prim.LocalID, forceRebuild, ret, prim.PhysShape);
             }
         }
 
@@ -513,6 +514,7 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
+    // return 'true' if the prim's shape was changed.
     public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
 
@@ -872,8 +874,7 @@ public sealed class BSShapeCollection : IDisposable
         {
             prim.LastAssetBuildFailed = true;
             BSPhysObject xprim = prim;
-            DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
-                            LogHeader, prim.LocalID, prim.LastAssetBuildFailed);
+            DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lastFailed={1}", prim.LocalID, prim.LastAssetBuildFailed);
             Util.FireAndForget(delegate
                 {
                     RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
@@ -882,19 +883,34 @@ public sealed class BSShapeCollection : IDisposable
                         BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
                         assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
                         {
-                            if (!yprim.BaseShape.SculptEntry)
-                                return;
-                            if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
-                                return;
-
-                            yprim.BaseShape.SculptData = asset.Data;
-                            // This will cause the prim to see that the filler shape is not the right
-                            //    one and try again to build the object.
-                            // No race condition with the normal shape setting since the rebuild is at taint time.
-                            yprim.ForceBodyShapeRebuild(false);
+                            bool assetFound = false;            // DEBUG DEBUG
+                            string mismatchIDs = String.Empty;  // DEBUG DEBUG
+                            if (yprim.BaseShape.SculptEntry)
+                            {
+                                if (yprim.BaseShape.SculptTexture.ToString() == asset.ID)
+                                {
+                                    yprim.BaseShape.SculptData = asset.Data;
+                                    // This will cause the prim to see that the filler shape is not the right
+                                    //    one and try again to build the object.
+                                    // No race condition with the normal shape setting since the rebuild is at taint time.
+                                    yprim.ForceBodyShapeRebuild(false /* inTaintTime */);
+                                    assetFound = true;
+                                }
+                                else
+                                {
+                                    mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID;
+                                }
+                            }
+                            DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
+                                        yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs );
 
                         });
                     }
+                    else
+                    {
+                        PhysicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
+                                                    LogHeader, PhysicsScene.Name);
+                    }
                 });
         }
         else
@@ -906,9 +922,9 @@ public sealed class BSShapeCollection : IDisposable
             }
         }
 
-        // While we figure out the real problem, stick in a simple box for the object.
-        BulletShape fillinShape =
-            BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
+        // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
+        BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
+        DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID);
 
         return fillinShape;
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 59cbab9..d4545f7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,7 +1,14 @@
 CURRENT PRIORITIES
 =================================================
+Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040
+        Msg Kayaker on OSGrid when working
+Teravus llMoveToTarget script debug
+        Mixing of hover, buoyancy/gravity, moveToTarget, into one force
+Boats floating at proper level
 Nebadon vehicles turning funny in arena
 limitMotorUp calibration (more down?)
+llRotLookAt
+llLookAt
 Vehicle angular vertical attraction
 Vehicle angular deflection
         Preferred orientation angular correction fix
@@ -9,8 +16,6 @@ vehicle angular banking
 Avatars walking up stairs (HALF DONE)
     Radius of the capsule affects ability to climb edges.
 Vehicle movement on terrain smoothness
-Surfboard go wonky when turning
-        Angular motor direction is global coordinates rather than local coordinates?
 Boats float low in the water (DONE)
 Avatar movement
         flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
@@ -27,6 +32,10 @@ Add material densities to the material types
 
 CRASHES
 =================================================
+Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim
+        m1:logs/20130115.0934/physics-BulletSim-20130115083613.log
+        Creation of Neb's terrain made the terrain "disappear". Everything started to fall
+                and then get restored to be above terrain.
 20121129.1411: editting/moving phys object across region boundries causes crash
     getPos-> btRigidBody::upcast -> getBodyType -> BOOM
 20121128.1600: mesh object not rezzing (no physics mesh).
@@ -111,6 +120,8 @@ Physical and phantom will drop through the terrain
 
 LINKSETS
 ======================================================
+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
@@ -133,6 +144,10 @@ Eliminate collisions between objects in a linkset. (LinksetConstraint)
 
 MORE
 ======================================================
+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
 Use the HACD convex hull routine in Bullet rather than the C# version.
 Do we need to do convex hulls all the time? Can complex meshes be left meshes?
         There is some problem with meshes and collisions
@@ -167,6 +182,7 @@ Enforce physical parameter min/max:
         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
 =================================================
@@ -287,4 +303,7 @@ 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.
\ No newline at end of file
+    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)
\ No newline at end of file