clockwerk-opensim – Blame information for rev 1
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Rev | Author | Line No. | Line |
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1 | vero | 1 | CURRENT PROBLEMS TO FIX AND/OR LOOK AT |
2 | ================================================= |
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3 | Vehicle buoyancy. Computed correctly? Possibly creating very large effective mass. |
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4 | Interaction of llSetBuoyancy and vehicle buoyancy. Should be additive? |
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5 | Negative buoyancy computed correctly |
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6 | Center-of-gravity |
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7 | Computation of mesh mass. How done? How should it be done? |
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8 | Enable vehicle border crossings (at least as poorly as ODE) |
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9 | Terrain skirts |
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10 | Avatar created in previous region and not new region when crossing border |
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11 | Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) |
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12 | User settable terrain mesh |
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13 | Allow specifying as convex or concave and use different getHeight functions depending |
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14 | Boats, when turning nose down into the water |
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15 | Acts like rotation around Z is also effecting rotation around X and Y |
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16 | Deleting a linkset while standing on the root will leave the physical shape of the root behind. |
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17 | Not sure if it is because standing on it. Done with large prim linksets. |
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18 | Linkset child rotations. |
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19 | Nebadon spiral tube has middle sections which are rotated wrong. |
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20 | Select linked spiral tube. Delink and note where the middle section ends up. |
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21 | Teravus llMoveToTarget script debug |
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22 | Mixing of hover, buoyancy/gravity, moveToTarget, into one force |
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23 | Setting hover height to zero disables hover even if hover flags are on (from SL wiki) |
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24 | limitMotorUp calibration (more down?) |
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25 | llRotLookAt |
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26 | llLookAt |
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27 | Convert to avatar mesh capsule. Include rotation of capsule. |
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28 | Vehicle script tuning/debugging |
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29 | Avanti speed script |
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30 | Weapon shooter script |
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31 | Move material definitions (friction, ...) into simulator. |
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32 | osGetPhysicsEngineVerion() and create a version code for the C++ DLL |
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33 | One sided meshes? Should terrain be built into a closed shape? |
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34 | When meshes get partially wedged into the terrain, they cannot push themselves out. |
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35 | It is possible that Bullet processes collisions whether entering or leaving a mesh. |
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36 | Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869 |
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37 | Small physical objects do not interact correctly |
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38 | Create chain of .5x.5x.1 torui and make all but top physical so to hang. |
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39 | The chain will fall apart and pairs will dance around on ground |
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40 | Chains of 1x1x.2 will stay connected but will dance. |
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41 | Chains above 2x2x.4 are more stable and get stablier as torui get larger. |
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42 | |||
43 | VEHICLES TODO LIST: |
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44 | ================================================= |
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45 | LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers. |
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46 | What are the limits in SL? |
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47 | Same for other velocity settings. |
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48 | UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims: |
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49 | https://github.com/UbitUmarov/Ubit-opensim |
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50 | Some vehicles should not be able to turn if no speed or off ground. |
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51 | Cannot edit/move a vehicle being ridden: it jumps back to the origional position. |
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52 | Neb car jiggling left and right |
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53 | Happens on terrain and any other mesh object. Flat cubes are much smoother. |
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54 | This has been reduced but not eliminated. |
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55 | Implement referenceFrame for all the motion routines. |
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56 | Verify llGetVel() is returning a smooth and good value for vehicle movement. |
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57 | llGetVel() should return the root's velocity if requested in a child prim. |
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58 | Implement function efficiency for lineaar and angular motion. |
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59 | Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint) |
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60 | Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties(). |
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61 | A kludge that isn't fixing the real problem of Bullet adding extra motion. |
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62 | Incorporate inter-relationship of angular corrections. For instance, angularDeflection |
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63 | and angularMotorUp will compute same X or Y correction. When added together |
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64 | creates over-correction and over-shoot and wabbling. |
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65 | Vehicle attributes are not restored when a vehicle is rezzed on region creation |
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66 | Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized. |
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67 | What to do if vehicle and prim buoyancy differ? |
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68 | |||
69 | GENERAL TODO LIST: |
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70 | ================================================= |
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71 | Resitution of a prim works on another prim but not on terrain. |
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72 | The dropped prim doesn't bounce properly on the terrain. |
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73 | Add a sanity check for PIDTarget location. |
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74 | Level-of-detail for mesh creation. Prims with circular interiors require lod of 32. |
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75 | Is much saved with lower LODs? At the moment, all set to 32. |
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76 | Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't. |
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77 | If arrow show at prim, collision reported about 1/3 of time. If collision reported, |
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78 | both arrow and prim report it. The arrow bounces off the prim 9 out of 10 times. |
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79 | Shooting 5m sphere "arrows" at 60m/s. |
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80 | llMoveToTarget objects are not effected by gravity until target is removed. |
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81 | Compute CCD parameters based on body size |
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82 | Can solver iterations be changed per body/shape? Can be for constraints but what |
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83 | about regular vehicles? |
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84 | Implement llSetPhysicalMaterial. |
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85 | extend it with Center-of-mass, rolling friction, density |
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86 | Implement llSetForceAndTorque. |
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87 | Change BSPrim.moveToTarget to used forces rather than changing position |
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88 | Changing position allows one to move through walls |
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89 | Implement an avatar mesh shape. The Bullet capsule is way too limited. |
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90 | Consider just hand creating a vertex/index array in a new BSShapeAvatar. |
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91 | Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain. |
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92 | Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. |
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93 | Duplicating a physical prim causes old prim to jump away |
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94 | Dup a phys prim and the original become unselected and thus interacts w/ selected prim. |
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95 | Scenes with hundred of thousands of static objects take a lot of physics CPU time. |
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96 | Gun sending shooter flying. |
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97 | Collision margin (gap between physical objects lying on each other) |
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98 | Boundry checking (crashes related to crossing boundry) |
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99 | Add check for border edge position for avatars and objects. |
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100 | Verify the events are created for border crossings. |
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101 | Implement ShapeCollection.Dispose() |
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102 | Implement water as a plain or mesh so raycasting and collisions can happen with same. |
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103 | Add collision penetration return |
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104 | Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance() |
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105 | Linkset.Position and Linkset.Orientation requre rewrite to properly return |
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106 | child position. LinksetConstraint acts like it's at taint time!! |
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107 | Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F) |
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108 | Should the different PID factors have non-equal contributions for different |
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109 | values of Efficiency? |
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110 | Selecting and deselecting physical objects causes CPU processing time to jump |
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111 | http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1 |
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112 | put thousand physical objects, select and deselect same. CPU time will be large. |
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113 | Re-implement buoyancy as a separate force on the object rather than diddling gravity. |
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114 | Register a pre-step event to add the force. |
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115 | More efficient memory usage when passing hull information from BSPrim to BulletSim |
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116 | Physical and phantom will drop through the terrain |
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117 | |||
118 | |||
119 | LINKSETS |
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120 | ====================================================== |
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121 | Child prims do not report collisions |
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122 | Allow children of a linkset to be phantom: |
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123 | http://opensim-dev.2196679.n2.nabble.com/Setting-a-single-child-prim-to-Phantom-tp7578513.html |
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124 | Add OS_STATUS_PHANTOM_PRIM to llSetLinkPrimitaveParamsFast. |
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125 | Editing a child of a linkset causes the child to go phantom |
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126 | Move a child prim once when it is physical and can never move it again without it going phantom |
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127 | Offset the center of the linkset to be the geometric center of all the prims |
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128 | Not quite the same as the center-of-gravity |
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129 | Linksets should allow collisions to individual children |
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130 | Add LocalID to children shapes in LinksetCompound and create events for individuals |
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131 | LinksetCompound: when one of the children changes orientation (like tires |
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132 | turning on a vehicle, the whole compound object is rebuilt. Optimize this |
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133 | so orientation/position of individual children can change without a rebuild. |
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134 | Verify/think through scripts in children of linksets. What do they reference |
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135 | and return when getting position, velocity, ... |
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136 | Confirm constraint linksets still work after making all the changes for compound linksets. |
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137 | Use PostTaint callback to do rebuilds for constraint linksets to reduce rebuilding |
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138 | Add 'changed' flag or similar to reduce the number of times a linkset is rebuilt. |
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139 | For compound linksets, add ability to remove or reposition individual child shapes. |
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140 | Speed up creation of large physical linksets |
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141 | For instance, sitting in Neb's car (130 prims) takes several seconds to become physical. |
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142 | REALLY bad for very large physical linksets (freezes the sim for many seconds). |
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143 | Eliminate collisions between objects in a linkset. (LinksetConstraint) |
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144 | Have UserPointer point to struct with localID and linksetID? |
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145 | Objects in original linkset still collide with each other? |
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146 | |||
147 | MORE |
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148 | ====================================================== |
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149 | Compute avatar size and scale correctly. Now it is a bit off from the capsule size. |
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150 | Create tests for different interface components |
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151 | Have test objects/scripts measure themselves and turn color if correct/bad |
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152 | Test functions in SL and calibrate correctness there |
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153 | Create auto rezzer and tracker to run through the tests |
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154 | Do we need to do convex hulls all the time? Can complex meshes be left meshes? |
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155 | There is some problem with meshes and collisions |
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156 | Hulls are not as detailed as meshes. Hulled vehicles insides are different shape. |
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157 | Debounce avatar contact so legs don't keep folding up when standing. |
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158 | Add border extensions to terrain to help region crossings and objects leaving region. |
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159 | Use a different capsule shape for avatar when sitting |
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160 | LL uses a pyrimidal shape scaled by the avatar's bounding box |
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161 | http://wiki.secondlife.com/wiki/File:Avmeshforms.png |
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162 | Performance test with lots of avatars. Can BulletSim support a thousand? |
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163 | Optimize collisions in C++: only send up to the object subscribed to collisions. |
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164 | Use collision subscription and remove the collsion(A,B) and collision(B,A) |
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165 | Check whether SimMotionState needs large if statement (see TODO). |
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166 | Implement 'top colliders' info. |
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167 | Avatar jump |
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168 | Performance measurement and changes to make quicker. |
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169 | Implement detailed physics stats (GetStats()). |
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170 | Measure performance improvement from hulls |
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171 | Test not using ghost objects for volume detect implementation. |
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172 | Performance of closures and delegates for taint processing |
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173 | Are there faster ways? |
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174 | Is any slowdown introduced by the existing implementation significant? |
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175 | Is there are more efficient method of implementing pre and post step actions? |
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176 | See http://www.codeproject.com/Articles/29922/Weak-Events-in-C |
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177 | Physics Arena central pyramid: why is one side permiable? |
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178 | In SL, perfect spheres don't seem to have rolling friction. Add special case. |
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179 | Enforce physical parameter min/max: |
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180 | Gravity: [-1, 28] |
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181 | Friction: [0, 255] |
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182 | Density: [1, 22587] |
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183 | Restitution [0, 1] |
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184 | http://wiki.secondlife.com/wiki/Physics_Material_Settings_test |
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185 | Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/31796/1.html |
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186 | Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale.html |
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187 | |||
188 | INTERNAL IMPROVEMENT/CLEANUP |
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189 | ================================================= |
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190 | Create the physical wrapper classes (BulletBody, BulletShape) by methods on |
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191 | BSAPITemplate and make their actual implementation Bullet engine specific. |
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192 | For the short term, just call the existing functions in ShapeCollection. |
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193 | Consider moving prim/character body and shape destruction in destroy() |
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194 | to postTimeTime rather than protecting all the potential sets that |
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195 | might have been queued up. |
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196 | Remove unused fields from ShapeData (not used in API2) |
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197 | Remove unused fields from pinned memory shared parameter block |
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198 | Create parameter variables in BSScene to replace same. |
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199 | Breakout code for mesh/hull/compound/native into separate BSShape* classes |
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200 | Standardize access to building and reference code. |
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201 | The skeleton classes are in the sources but are not complete or linked in. |
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202 | Make BSBody and BSShape real classes to centralize creation/changin/destruction |
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203 | Convert state and parameter calls from BulletSimAPI direct calls to |
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204 | calls on BSBody and BSShape |
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205 | Generalize Dynamics and PID with standardized motors. |
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206 | Generalize Linkset and vehicles into PropertyManagers |
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207 | Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies |
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208 | Potentially add events for shape destruction, etc. |
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209 | Better mechanism for resetting linkset set and vehicle parameters when body rebuilt. |
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210 | BSPrim.CreateGeomAndObject is kludgy with the callbacks, etc. |
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211 | Implement linkset by setting position of children when root updated. (LinksetManual) |
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212 | Linkset implementation using manual prim movement. |
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213 | LinkablePrim class? Would that simplify/centralize the linkset logic? |
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214 | BSScene.UpdateParameterSet() is broken. How to set params on objects? |
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215 | Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will |
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216 | bob at the water level. BSPrim.PositionSanityCheck() |
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217 | Should taints check for existance or activeness of target? |
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218 | When destroying linksets/etc, taints can be generated for objects that are |
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219 | actually gone when the taint happens. Crashes don't happen because the taint closure |
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220 | keeps the object from being freed, but that is just an accident. |
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221 | Possibly have an 'active' flag that is checked by the taint processor? |
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222 | Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones) |
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223 | Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'? |
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224 | There are TOO MANY interfaces from BulletSim core to Bullet itself |
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225 | Think of something to eliminate one or more of the layers |
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226 | |||
227 | THREADING |
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228 | ================================================= |
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229 | Do taint action immediately if not actually executing Bullet. |
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230 | Add lock around Bullet execution and just do taint actions if simulation is not happening. |
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231 | |||
232 | DONE DONE DONE DONE |
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233 | ================================================= |
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234 | Cleanup code in BSDynamics by using motors. (Resolution: started) |
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235 | Consider implementing terrain with a mesh rather than heightmap. (Resolution: done) |
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236 | Would have better and adjustable resolution. |
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237 | Build terrain mesh so heighmap is height of the center of the square meter. |
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238 | Resolution: NOT DONE: SL and ODE define meter square as being at one corner with one diagional. |
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239 | Terrain as mesh. (Resolution: done) |
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240 | How are static linksets seen by the physics engine? |
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241 | Resolution: they are not linked in physics. When moved, all the children are repositioned. |
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242 | Convert BSCharacter to use all API2 (Resolution: done) |
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243 | Avatar pushing difficult (too heavy?) |
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244 | Use asset service passed to BulletSim to get sculptie bodies, etc. (Resolution: done) |
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245 | Remove old code in DLL (all non-API2 stuff). (Resolution: done) |
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246 | Measurements of mega-physical prim performance (with graph) (Resolution: done, email) |
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247 | Debug Bullet internal stats output (why is timing all wrong?) |
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248 | Resolution: Bullet stats logging only works with a single instance of Bullet (one region). |
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249 | Implement meshes or just verify that they work. (Resolution: they do!) |
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250 | Do prim hash codes work for sculpties and meshes? (Resolution: yes) |
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251 | Linkset implementation using compound shapes. (Resolution: implemented LinksetCompound) |
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252 | Compound shapes will need the LocalID in the shapes and collision |
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253 | processing to get it from there. |
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254 | Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.) |
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255 | Package Bullet source mods for Bullet internal stats output |
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256 | (Resolution: move code into WorldData.h rather than relying on patches) |
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257 | Single prim vehicles don't seem to properly vehiclize. |
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258 | (Resolution: mass was not getting set properly for single prim linksets) |
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259 | Add material type linkage and input all the material property definitions. |
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260 | Skeleton classes and table are in the sources but are not filled or used. |
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261 | (Resolution: |
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262 | Neb vehicle taking > 25ms of physics time!! |
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263 | (Resolution: compound linksets were being rebuild WAY too often) |
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264 | Avatar height off after unsitting (floats off ground) |
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265 | Editting appearance then moving restores. |
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266 | Must not be initializing height when recreating capsule after unsit. |
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267 | (Resolution: confusion of scale vs size for native objects removed) |
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268 | Light cycle falling over when driving (Resolution: implemented angularMotorUp) |
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269 | Should vehicle angular/linear movement friction happen after all the components |
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270 | or does it only apply to the basic movement? |
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271 | (Resolution: friction added before returning newly computed motor value. |
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272 | What is expected by some vehicles (turning up friction to moderate speed)) |
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273 | Tune terrain/object friction to be closer to SL. |
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274 | (Resolution: added material type with friction and resolution) |
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275 | Smooth avatar movement with motor (DONE) |
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276 | Should motor update be all at taint-time? (Yes, DONE) |
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277 | Fix avatar slowly sliding when standing (zero motion when stopped) (DONE) |
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278 | (Resolution: added BSVMotor for avatar starting and stopping) |
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279 | llApplyImpulse() |
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280 | Compare mass/movement in OS and SL. Calibrate actions. (DONE) |
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281 | (Resolution: tested on SL and OS. AddForce scales the force for timestep) |
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282 | llSetBuoyancy() (DONE) |
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283 | (Resolution: Bullet resets object gravity when added to world. Moved set gravity) |
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284 | Avatar density is WAY off. Compare and calibrate with what's in SL. (DONE) |
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285 | (Resolution: set default density to 3.5 (from 60) which is closer to SL) |
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286 | Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE) |
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287 | (Resolution: added BSAPITemplate and then interfaces for C++ Bullet and C# BulletXNA |
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288 | Meshes rendering as bounding boxes (DONE) |
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289 | (Resolution: Added test for mesh/sculpties in native shapes so it didn't think it was a box) |
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290 | llMoveToTarget (Resolution: added simple motor to update the position.) |
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291 | Angular motor direction is global coordinates rather than local coordinates (DONE) |
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292 | Add vehicle collisions so IsColliding is properly reported. (DONE) |
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293 | Needed for banking, limitMotorUp, movementLimiting, ... |
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294 | (Resolution: added CollisionFlags.BS_VEHICLE_COLLISION and code to use it) |
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295 | VehicleAddForce is not scaled by the simulation step but it is only |
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296 | applied for one step. Should it be scaled? (DONE) |
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297 | (Resolution: use force for timed things, Impulse for immediate, non-timed things) |
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298 | Complete implemention of preStepActions (DONE) |
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299 | Replace vehicle step call with prestep event. |
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300 | Is there a need for postStepActions? postStepTaints? |
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301 | Disable activity of passive linkset children. (DONE) |
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302 | Since the linkset is a compound object, the old prims are left lying |
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303 | around and need to be phantomized so they don't collide, ... |
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304 | Remove HeightmapInfo from terrain specification (DONE) |
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305 | Since C++ code does not need terrain height, this structure et al are not needed. |
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306 | Surfboard go wonky when turning (DONE) |
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307 | Angular motor direction is global coordinates rather than local coordinates? |
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308 | (Resolution: made angular motor direction correct coordinate system) |
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309 | Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE) |
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310 | Msg Kayaker on OSGrid when working |
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311 | (Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the |
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312 | same in SL as in OS/BulletSim) |
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313 | Boats float low in the water (DONE) |
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314 | Boats floating at proper level (DONE) |
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315 | When is force introduced by SetForce removed? The prestep action could go forever. (DONE) |
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316 | (Resolution: setForce registers a prestep action which keeps applying the force) |
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317 | Child movement in linkset (don't rebuild linkset) (DONE 20130122)) |
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318 | Avatar standing on a moving object should start to move with the object. (DONE 20130125) |
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319 | Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. |
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320 | Verify that angular motion specified around Z moves in the vehicle coordinates. |
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321 | DONE 20130120: BulletSim properly applies force in vehicle relative coordinates. |
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322 | Nebadon vehicles turning funny in arena (DONE) |
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323 | Lock axis (DONE 20130401) |
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324 | Terrain detail: double terrain mesh detail (DONE) |
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325 | Use the HACD convex hull routine in Bullet rather than the C# version. |
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326 | Speed up hullifying large meshes. (DONE) |
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327 | Vehicle ride, get up, ride again. Second time vehicle does not act correctly. |
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328 | Have to rez new vehicle and delete the old to fix situation. |
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329 | (DONE 20130520: normalize rotations) |
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330 | Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd |
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331 | position state where it will not settle onto ground properly, etc |
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332 | (DONE 20130520: normalize rotations) |
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333 | Two of Nebadon vehicles in a sim max the CPU. This is new. |
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334 | (DONE 20130520: two problems: if asset failed to mesh, constantly refetched |
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335 | asset; vehicle was sending too many messages to all linkset members) |
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336 | Add material densities to the material types. (WILL NOT BE DONE: not how it is done) |
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337 | Avatars walking up stairs (DONE) |
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338 | Avatar movement |
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339 | flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) |
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340 | walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE) |
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341 | avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution) |
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342 | After getting off a vehicle, the root prim is phantom (can be walked through) |
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343 | Need to force a position update for the root prim after compound shape destruction |
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344 | (DONE) |
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345 | Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects. |
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346 | Regular triangle meshes don't do physical collisions. |
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347 | (DONE: discovered GImpact is VERY CPU intensive) |
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348 | Script changing rotation of child prim while vehicle moving (eg turning wheel) causes |
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349 | the wheel to appear to jump back. Looks like sending position from previous update. |
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350 | (DONE: redo of compound linksets fixed problem) |
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351 | Refarb compound linkset creation to create a pseudo-root for center-of-mass |
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352 | Let children change their shape to physical indendently and just add shapes to compound |
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353 | (DONE: redo of compound linkset fixed problem) |
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354 | Vehicle angular vertical attraction (DONE: vegaslon code) |
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355 | vehicle angular banking (DONE: vegaslon code) |
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356 | Vehicle angular deflection (DONE: vegaslon code) |
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357 | Preferred orientation angular correction fix |
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358 | Vehicles (Move smoothly) |
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359 | For limitMotorUp, use raycast down to find if vehicle is in the air. |
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360 | (WILL NOT BE DONE: gravity does the job well enough) |
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361 | BSPrim.Force should set a continious force on the prim. The force should be |
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362 | applied each tick. Some limits? |
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363 | (DONE: added physical actors. Implemented SetForce, SetTorque, ...) |
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364 | Implement LSL physics controls. Like STATUS_ROTATE_X. (DONE) |
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365 | Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE |
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366 | Avatar rotation (check out changes to ScenePresence for physical rotation) (DONE) |
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367 | Avatar running (what does phys engine need to do?) (DONE: multiplies run factor by walking force) |
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368 | setForce should set a constant force. Different than AddImpulse. (DONE) |
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369 | Add PID motor for avatar movement (slow to stop, ...) (WNBD: current works ok) |
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370 | Avatar movement motor check for zero or small movement. Somehow suppress small movements |
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371 | when avatar has stopped and is just standing. Simple test for near zero has |
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372 | the problem of preventing starting up (increase from zero) especially when falling. |
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373 | (DONE: avatar movement actor knows if standing on stationary object and zeros motion) |
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374 | Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to |
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375 | BSScene.TaintedObject() could immediately execute the callback if already in taint time. |
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376 | (DONE) |
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377 | |||
378 | |||
379 |