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-CURRENT PRIORITIES
-=================================================
-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
-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
-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.
-
-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?
-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.
-
-BULLETSIM TODO LIST:
-=================================================
-Implement an avatar mesh shape. The Bullet capsule is way too limited.
-        Consider just hand creating a vertex/index array in a new BSShapeAvatar.
-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.
-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
-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
-======================================================
-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.
-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).
-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
-======================================================
-Test avatar walking up stairs. How does compare with SL.
-    Radius of the capsule affects ability to climb edges.
-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
-        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
-
-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.
-Complete implemention of preStepActions
-        Replace vehicle step call with prestep event.
-        Is there a need for postStepActions? postStepTaints?
-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().
-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?
-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)