365 lines
21 KiB
Plaintext
Executable File
365 lines
21 KiB
Plaintext
Executable File
PROBLEMS TO LOOK INTO
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=================================================
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Nebadon vehicle ride, get up, ride again. Second time vehicle does not act correctly.
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Have to rez new vehicle and delete the old to fix situation.
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Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd
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position state where it will not settle onto ground properly, etc
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Two of Nebadon vehicles in a sim max the CPU. This is new.
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A sitting, active vehicle bobs up and down a small amount.
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CURRENT PRIORITIES
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=================================================
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Use the HACD convex hull routine in Bullet rather than the C# version.
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Speed up hullifying large meshes.
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Enable vehicle border crossings (at least as poorly as ODE)
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Terrain skirts
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Avatar created in previous region and not new region when crossing border
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Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
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Deleting a linkset while standing on the root will leave the physical shape of the root behind.
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Not sure if it is because standing on it. Done with large prim linksets.
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Linkset child rotations.
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Nebadon spiral tube has middle sections which are rotated wrong.
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Select linked spiral tube. Delink and note where the middle section ends up.
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Refarb compound linkset creation to create a pseudo-root for center-of-mass
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Let children change their shape to physical indendently and just add shapes to compound
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Vehicle angular vertical attraction
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vehicle angular banking
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Center-of-gravity
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Vehicle angular deflection
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Preferred orientation angular correction fix
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when should angular and linear motor targets be zeroed? when selected?
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Need a vehicle.clear()? Or an 'else' in prestep if not physical.
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Teravus llMoveToTarget script debug
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Mixing of hover, buoyancy/gravity, moveToTarget, into one force
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Setting hover height to zero disables hover even if hover flags are on (from SL wiki)
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limitMotorUp calibration (more down?)
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llRotLookAt
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llLookAt
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Avatars walking up stairs (HALF DONE)
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Avatar movement
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flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
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walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE)
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avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
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Vehicle script tuning/debugging
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Avanti speed script
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Weapon shooter script
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Move material definitions (friction, ...) into simulator.
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Add material densities to the material types.
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One sided meshes? Should terrain be built into a closed shape?
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When meshes get partially wedged into the terrain, they cannot push themselves out.
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It is possible that Bullet processes collisions whether entering or leaving a mesh.
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Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
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VEHICLES TODO LIST:
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=================================================
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LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers.
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What are the limits in SL?
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Same for other velocity settings.
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UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims:
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https://github.com/UbitUmarov/Ubit-opensim
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Border crossing with linked vehicle causes crash
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20121129.1411: editting/moving phys object across region boundries causes crash
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getPos-> btRigidBody::upcast -> getBodyType -> BOOM
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Vehicles (Move smoothly)
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Some vehicles should not be able to turn if no speed or off ground.
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What to do if vehicle and prim buoyancy differ?
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Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
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Neb car jiggling left and right
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Happens on terrain and any other mesh object. Flat cubes are much smoother.
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This has been reduced but not eliminated.
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Implement referenceFrame for all the motion routines.
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For limitMotorUp, use raycast down to find if vehicle is in the air.
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Verify llGetVel() is returning a smooth and good value for vehicle movement.
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llGetVel() should return the root's velocity if requested in a child prim.
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Implement function efficiency for lineaar and angular motion.
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After getting off a vehicle, the root prim is phantom (can be walked through)
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Need to force a position update for the root prim after compound shape destruction
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Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
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Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
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A kludge that isn't fixing the real problem of Bullet adding extra motion.
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Incorporate inter-relationship of angular corrections. For instance, angularDeflection
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and angularMotorUp will compute same X or Y correction. When added together
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creates over-correction and over-shoot and wabbling.
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Vehicle attributes are not restored when a vehicle is rezzed on region creation
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Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized.
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GENERAL TODO LIST:
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=================================================
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Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects.
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Regular triangle meshes don't do physical collisions.
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Resitution of a prim works on another prim but not on terrain.
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The dropped prim doesn't bounce properly on the terrain.
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Add a sanity check for PIDTarget location.
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Level-of-detail for mesh creation. Prims with circular interiors require lod of 32.
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Is much saved with lower LODs? At the moment, all set to 32.
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Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't.
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If arrow show at prim, collision reported about 1/3 of time. If collision reported,
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both arrow and prim report it. The arrow bounces off the prim 9 out of 10 times.
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Shooting 5m sphere "arrows" at 60m/s.
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llMoveToTarget objects are not effected by gravity until target is removed.
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Compute CCD parameters based on body size
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Can solver iterations be changed per body/shape? Can be for constraints but what
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about regular vehicles?
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Implement llSetPhysicalMaterial.
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extend it with Center-of-mass, rolling friction, density
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Implement llSetForceAndTorque.
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Change BSPrim.moveToTarget to used forces rather than changing position
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Changing position allows one to move through walls
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Implement an avatar mesh shape. The Bullet capsule is way too limited.
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Consider just hand creating a vertex/index array in a new BSShapeAvatar.
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Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain.
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Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
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Duplicating a physical prim causes old prim to jump away
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Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
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Scenes with hundred of thousands of static objects take a lot of physics CPU time.
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BSPrim.Force should set a continious force on the prim. The force should be
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applied each tick. Some limits?
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Gun sending shooter flying.
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Collision margin (gap between physical objects lying on each other)
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Boundry checking (crashes related to crossing boundry)
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Add check for border edge position for avatars and objects.
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Verify the events are created for border crossings.
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Avatar rotation (check out changes to ScenePresence for physical rotation)
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Avatar running (what does phys engine need to do?)
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Small physical objects do not interact correctly
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Create chain of .5x.5x.1 torui and make all but top physical so to hang.
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The chain will fall apart and pairs will dance around on ground
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Chains of 1x1x.2 will stay connected but will dance.
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Chains above 2x2x.4 are more stable and get stablier as torui get larger.
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Add PID motor for avatar movement (slow to stop, ...)
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setForce should set a constant force. Different than AddImpulse.
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Implement raycast.
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Implement ShapeCollection.Dispose()
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Implement water as a plain so raycasting and collisions can happen with same.
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Add collision penetration return
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Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance()
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Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
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Also osGetPhysicsEngineVerion() maybe.
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Linkset.Position and Linkset.Orientation requre rewrite to properly return
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child position. LinksetConstraint acts like it's at taint time!!
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Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F)
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Should the different PID factors have non-equal contributions for different
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values of Efficiency?
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Selecting and deselecting physical objects causes CPU processing time to jump
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http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1
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put thousand physical objects, select and deselect same. CPU time will be large.
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Re-implement buoyancy as a separate force on the object rather than diddling gravity.
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Register a pre-step event to add the force.
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More efficient memory usage when passing hull information from BSPrim to BulletSim
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Avatar movement motor check for zero or small movement. Somehow suppress small movements
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when avatar has stopped and is just standing. Simple test for near zero has
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the problem of preventing starting up (increase from zero) especially when falling.
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Physical and phantom will drop through the terrain
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LINKSETS
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======================================================
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Child prims do not report collisions
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Allow children of a linkset to be phantom:
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http://opensim-dev.2196679.n2.nabble.com/Setting-a-single-child-prim-to-Phantom-tp7578513.html
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Add OS_STATUS_PHANTOM_PRIM to llSetLinkPrimitaveParamsFast.
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Editing a child of a linkset causes the child to go phantom
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Move a child prim once when it is physical and can never move it again without it going phantom
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Offset the center of the linkset to be the geometric center of all the prims
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Not quite the same as the center-of-gravity
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Linksets should allow collisions to individual children
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Add LocalID to children shapes in LinksetCompound and create events for individuals
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LinksetCompound: when one of the children changes orientation (like tires
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turning on a vehicle, the whole compound object is rebuilt. Optimize this
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so orientation/position of individual children can change without a rebuild.
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Verify/think through scripts in children of linksets. What do they reference
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and return when getting position, velocity, ...
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Confirm constraint linksets still work after making all the changes for compound linksets.
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Use PostTaint callback to do rebuilds for constraint linksets to reduce rebuilding
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Add 'changed' flag or similar to reduce the number of times a linkset is rebuilt.
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For compound linksets, add ability to remove or reposition individual child shapes.
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Speed up creation of large physical linksets
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For instance, sitting in Neb's car (130 prims) takes several seconds to become physical.
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REALLY bad for very large physical linksets (freezes the sim for many seconds).
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Eliminate collisions between objects in a linkset. (LinksetConstraint)
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Have UserPointer point to struct with localID and linksetID?
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Objects in original linkset still collide with each other?
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MORE
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======================================================
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Compute avatar size and scale correctly. Now it is a bit off from the capsule size.
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Create tests for different interface components
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Have test objects/scripts measure themselves and turn color if correct/bad
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Test functions in SL and calibrate correctness there
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Create auto rezzer and tracker to run through the tests
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Do we need to do convex hulls all the time? Can complex meshes be left meshes?
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There is some problem with meshes and collisions
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Hulls are not as detailed as meshes. Hulled vehicles insides are different shape.
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Debounce avatar contact so legs don't keep folding up when standing.
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Implement LSL physics controls. Like STATUS_ROTATE_X.
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Add border extensions to terrain to help region crossings and objects leaving region.
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Use a different capsule shape for avatar when sitting
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LL uses a pyrimidal shape scaled by the avatar's bounding box
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http://wiki.secondlife.com/wiki/File:Avmeshforms.png
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Performance test with lots of avatars. Can BulletSim support a thousand?
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Optimize collisions in C++: only send up to the object subscribed to collisions.
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Use collision subscription and remove the collsion(A,B) and collision(B,A)
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Check whether SimMotionState needs large if statement (see TODO).
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Implement 'top colliders' info.
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Avatar jump
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Performance measurement and changes to make quicker.
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Implement detailed physics stats (GetStats()).
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Measure performance improvement from hulls
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Test not using ghost objects for volume detect implementation.
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Performance of closures and delegates for taint processing
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Are there faster ways?
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Is any slowdown introduced by the existing implementation significant?
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Is there are more efficient method of implementing pre and post step actions?
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See http://www.codeproject.com/Articles/29922/Weak-Events-in-C
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Physics Arena central pyramid: why is one side permiable?
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In SL, perfect spheres don't seem to have rolling friction. Add special case.
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Enforce physical parameter min/max:
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Gravity: [-1, 28]
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Friction: [0, 255]
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Density: [1, 22587]
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Restitution [0, 1]
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http://wiki.secondlife.com/wiki/Physics_Material_Settings_test
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Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/31796/1.html
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Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale.html
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INTERNAL IMPROVEMENT/CLEANUP
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=================================================
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Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to
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BSScene.TaintedObject() could immediately execute the callback if already in taint time.
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Create the physical wrapper classes (BulletBody, BulletShape) by methods on
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BSAPITemplate and make their actual implementation Bullet engine specific.
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For the short term, just call the existing functions in ShapeCollection.
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Consider moving prim/character body and shape destruction in destroy()
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to postTimeTime rather than protecting all the potential sets that
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might have been queued up.
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Remove unused fields from ShapeData (not used in API2)
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Remove unused fields from pinned memory shared parameter block
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Create parameter variables in BSScene to replace same.
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Breakout code for mesh/hull/compound/native into separate BSShape* classes
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Standardize access to building and reference code.
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The skeleton classes are in the sources but are not complete or linked in.
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Make BSBody and BSShape real classes to centralize creation/changin/destruction
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Convert state and parameter calls from BulletSimAPI direct calls to
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calls on BSBody and BSShape
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Generalize Dynamics and PID with standardized motors.
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Generalize Linkset and vehicles into PropertyManagers
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Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies
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Potentially add events for shape destruction, etc.
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Better mechanism for resetting linkset set and vehicle parameters when body rebuilt.
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BSPrim.CreateGeomAndObject is kludgy with the callbacks, etc.
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Implement linkset by setting position of children when root updated. (LinksetManual)
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Linkset implementation using manual prim movement.
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LinkablePrim class? Would that simplify/centralize the linkset logic?
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BSScene.UpdateParameterSet() is broken. How to set params on objects?
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Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will
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bob at the water level. BSPrim.PositionSanityCheck()
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Should taints check for existance or activeness of target?
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When destroying linksets/etc, taints can be generated for objects that are
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actually gone when the taint happens. Crashes don't happen because the taint closure
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keeps the object from being freed, but that is just an accident.
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Possibly have an 'active' flag that is checked by the taint processor?
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Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones)
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Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'?
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There are TOO MANY interfaces from BulletSim core to Bullet itself
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Think of something to eliminate one or more of the layers
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THREADING
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=================================================
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Do taint action immediately if not actually executing Bullet.
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Add lock around Bullet execution and just do taint actions if simulation is not happening.
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DONE DONE DONE DONE
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=================================================
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Cleanup code in BSDynamics by using motors. (Resolution: started)
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Consider implementing terrain with a mesh rather than heightmap. (Resolution: done)
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Would have better and adjustable resolution.
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Build terrain mesh so heighmap is height of the center of the square meter.
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Resolution: NOT DONE: SL and ODE define meter square as being at one corner with one diagional.
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Terrain as mesh. (Resolution: done)
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How are static linksets seen by the physics engine?
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Resolution: they are not linked in physics. When moved, all the children are repositioned.
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Convert BSCharacter to use all API2 (Resolution: done)
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Avatar pushing difficult (too heavy?)
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Use asset service passed to BulletSim to get sculptie bodies, etc. (Resolution: done)
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Remove old code in DLL (all non-API2 stuff). (Resolution: done)
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Measurements of mega-physical prim performance (with graph) (Resolution: done, email)
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Debug Bullet internal stats output (why is timing all wrong?)
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Resolution: Bullet stats logging only works with a single instance of Bullet (one region).
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Implement meshes or just verify that they work. (Resolution: they do!)
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Do prim hash codes work for sculpties and meshes? (Resolution: yes)
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Linkset implementation using compound shapes. (Resolution: implemented LinksetCompound)
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Compound shapes will need the LocalID in the shapes and collision
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processing to get it from there.
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Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.)
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Package Bullet source mods for Bullet internal stats output
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(Resolution: move code into WorldData.h rather than relying on patches)
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Single prim vehicles don't seem to properly vehiclize.
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(Resolution: mass was not getting set properly for single prim linksets)
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Add material type linkage and input all the material property definitions.
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Skeleton classes and table are in the sources but are not filled or used.
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(Resolution:
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Neb vehicle taking > 25ms of physics time!!
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(Resolution: compound linksets were being rebuild WAY too often)
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Avatar height off after unsitting (floats off ground)
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Editting appearance then moving restores.
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Must not be initializing height when recreating capsule after unsit.
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(Resolution: confusion of scale vs size for native objects removed)
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Light cycle falling over when driving (Resolution: implemented angularMotorUp)
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Should vehicle angular/linear movement friction happen after all the components
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or does it only apply to the basic movement?
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(Resolution: friction added before returning newly computed motor value.
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What is expected by some vehicles (turning up friction to moderate speed))
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Tune terrain/object friction to be closer to SL.
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(Resolution: added material type with friction and resolution)
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Smooth avatar movement with motor (DONE)
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Should motor update be all at taint-time? (Yes, DONE)
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Fix avatar slowly sliding when standing (zero motion when stopped) (DONE)
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(Resolution: added BSVMotor for avatar starting and stopping)
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llApplyImpulse()
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Compare mass/movement in OS and SL. Calibrate actions. (DONE)
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(Resolution: tested on SL and OS. AddForce scales the force for timestep)
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llSetBuoyancy() (DONE)
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(Resolution: Bullet resets object gravity when added to world. Moved set gravity)
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Avatar density is WAY off. Compare and calibrate with what's in SL. (DONE)
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(Resolution: set default density to 3.5 (from 60) which is closer to SL)
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Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE)
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(Resolution: added BSAPITemplate and then interfaces for C++ Bullet and C# BulletXNA
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Meshes rendering as bounding boxes (DONE)
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(Resolution: Added test for mesh/sculpties in native shapes so it didn't think it was a box)
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llMoveToTarget (Resolution: added simple motor to update the position.)
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Angular motor direction is global coordinates rather than local coordinates (DONE)
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Add vehicle collisions so IsColliding is properly reported. (DONE)
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Needed for banking, limitMotorUp, movementLimiting, ...
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(Resolution: added CollisionFlags.BS_VEHICLE_COLLISION and code to use it)
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VehicleAddForce is not scaled by the simulation step but it is only
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applied for one step. Should it be scaled? (DONE)
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(Resolution: use force for timed things, Impulse for immediate, non-timed things)
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Complete implemention of preStepActions (DONE)
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Replace vehicle step call with prestep event.
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Is there a need for postStepActions? postStepTaints?
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Disable activity of passive linkset children. (DONE)
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Since the linkset is a compound object, the old prims are left lying
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around and need to be phantomized so they don't collide, ...
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Remove HeightmapInfo from terrain specification (DONE)
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Since C++ code does not need terrain height, this structure et al are not needed.
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Surfboard go wonky when turning (DONE)
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Angular motor direction is global coordinates rather than local coordinates?
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(Resolution: made angular motor direction correct coordinate system)
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Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE)
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Msg Kayaker on OSGrid when working
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(Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the
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same in SL as in OS/BulletSim)
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Boats float low in the water (DONE)
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Boats floating at proper level (DONE)
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When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
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(Resolution: setForce registers a prestep action which keeps applying the force)
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Child movement in linkset (don't rebuild linkset) (DONE 20130122))
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Avatar standing on a moving object should start to move with the object. (DONE 20130125)
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Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
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Verify that angular motion specified around Z moves in the vehicle coordinates.
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DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.
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Nebadon vehicles turning funny in arena (DONE)
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Lock axis (DONE 20130401)
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Terrain detail: double terrain mesh detail (DONE)
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