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+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.
+
+BULLETSIM TODO LIST:
+=================================================
+Neb car jiggling left and right
+Vehicles (Move smoothly)
+Light cycle falling over when driving
+Light cycle not banking
+Do single prim vehicles don't seem to properly vehiclize.
+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 move stable and get stablier as torui get larger.
+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.
+Add PID motor for avatar movement (slow to stop, ...)
+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
+Find/remove avatar collision with ID=0.
+Test avatar walking up stairs. How does compare with SL.
+    Radius of the capsule affects ability to climb edges.
+Tune terrain/object friction to be closer to SL.
+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.
+Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
+
+Speed up creation of large physical linksets
+        For instance, sitting in Neb's car (130 prims) takes several seconds to become physical
+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 wheter SimMotionState needs large if statement (see TODO).
+
+Implement 'top colliders' info.
+Avatar jump
+Implement meshes or just verify that they work.
+Do prim hash codes work for sculpties and meshes?
+Performance measurement and changes to make quicker.
+Implement detailed physics stats (GetStats()).
+
+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?
+
+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
+
+Package Bullet source mods for Bullet internal stats output
+
+Physics Arena central pyramid: why is one side permiable?
+
+INTERNAL IMPROVEMENT/CLEANUP
+=================================================
+Remove unused fields from ShapeData (not used in API2)
+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.
+Generalize Dynamics and PID with standardized motors.
+Generalize Linkset and vehicles into PropertyManagers
+    Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies
+        Possibly generalized a 'pre step action' registration.
+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)
+LinkablePrim class? Would that simplify/centralize the linkset logic?
+Linkset implementation using manual prim movement.
+Linkset implementation using compound shapes.
+    Compound shapes will need the LocalID in the shapes and collision
+    processing to get it from there.
+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().
+
+DONE DONE DONE DONE
+=================================================
+Cleanup code in BSDynamics by using motors.
+Consider implementing terrain with a mesh rather than heightmap.
+    Would have better and adjustable resolution.
+NOTDONE: Build terrain mesh so heighmap is height of the center of the square meter.
+    SL and ODE define meter square as being at one corner with one diagional.
+Terrain as mesh.
+How are static linksets seen by the physics engine?
+    A: they are not linked in physics. When moved, all the children are repositioned.
+Remember to remove BSScene.DetailLog Refresh call.
+Convert BSCharacter to use all API2
+Avatar pushing difficult (too heavy?)
+Use asset service passed to BulletSim to get sculptie bodies, etc.
+Vehicles (fix bouncing on terrain)
+Remove old code in DLL (all non-API2 stuff).
+Measurements of mega-physical prim performance (with graph)
+Debug Bullet internal stats output (why is timing all wrong?)
+        Bullet stats logging only works with a single instance of Bullet (one region).
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