Initial update to OpenSim 0.8.2.1 source code.

1 files changed, 178 insertions, 71 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/PhysicsModules/BulletS/BulletSimTODO.txt
index a8a4ff5..0453376 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/PhysicsModules/BulletS/BulletSimTODO.txt
@@ -1,93 +1,107 @@
-CURRENT PRIORITIES
+CURRENT PROBLEMS TO FIX AND/OR LOOK AT
 =================================================
-Redo BulletSimAPI to allow native C# implementation of Bullet option.
-Avatar movement
-        flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle
-        walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
-        avatar capsule rotation completed
-llMoveToTarget
+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)
-Vehicle movement on terrain smoothness
+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
-limitMotorUp calibration (more down?)
-Boats float low in the water
-Add material densities to the material types.
-
-CRASHES
-=================================================
-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).
-    Causes many errors. Doesn't stop after first error with box shape.
-    Eventually crashes when deleting the object.
-20121206.1434: rez Sam-pan into OSGrid BulletSim11 region
-        Immediate simulator crash. Mono does not output any stacktrace and
-        log just stops after reporting taint-time linking of the linkset.
+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:
 =================================================
-Angular motor direction is global coordinates rather than local coordinates
-Border crossing with linked vehicle causes crash
-Vehicles (Move smoothly)
-Add vehicle collisions so IsColliding is properly reported.
-        Needed for banking, limitMotorUp, movementLimiting, ...
-VehicleAddForce is not scaled by the simulation step but it is only
-        applied for one step. Should it be scaled?
+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.
-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.
-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.
+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?
 
-BULLETSIM TODO LIST:
+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.
-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.
-Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
-        Also osGetPhysicsEngineVerion() maybe.
+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)
@@ -99,14 +113,17 @@ 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
 
 
 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
@@ -117,11 +134,9 @@ LinksetCompound: when one of the children changes orientation (like tires
 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.
-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.
         REALLY bad for very large physical linksets (freezes the sim for many seconds).
@@ -131,25 +146,27 @@ Eliminate collisions between objects in a linkset. (LinksetConstraint)
 
 MORE
 ======================================================
-Test avatar walking up stairs. How does compare with SL.
-    Radius of the capsule affects ability to climb edges.
+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.
-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
         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
@@ -157,9 +174,7 @@ Performance of closures and delegates for taint processing
         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]
@@ -168,6 +183,7 @@ 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
 =================================================
@@ -190,22 +206,19 @@ 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.
-Complete implemention of preStepActions
-        Replace vehicle step call with prestep event.
-        Is there a need for postStepActions? postStepTaints?
+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?
-Remove HeightmapInfo from terrain specification
-    Since C++ code does not need terrain height, this structure et al are not needed.
 Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will
-    bob at the water level. BSPrim.PositionSanityCheck().
+    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 and 'active' flag that is checked by the taint processor?
+        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
@@ -270,3 +283,97 @@ 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)
+
+
+