progress.txt

12/06/2001	Began coding 
v1		basic skeletons of EXE and DLL		
		working on header files and OpenGL window

12/10/2001	Started taking notes on progress...
v14		3D view works, component list works, notify/listen works
		on startup, the bodies of a hard-coded quadruped are created
		there are no joints in the quadruped as yet
		it can be viewed in the 3D window
		the components show up in the component list window
		user can select components in the component list, they are highted in the 3D view

12/11/2001	Started taking notes on progress
v15		internal property classes work
		when an object is selected, the property view gets its list of properties
		no UI to show properties as yet, that will come next

12/12/2001	properties are stored in a tree rather than a list
v16		properties of selected bodies are shown in the UI 
		cannot yet edit properties

12/12/2001	can now edit properties
v17		change the name, and the new name appears in the component list
		change an object's position, and the 3D view shows it in the new position
		that was too easy!
		also fixed a bug in the model draw routine

12/13/2001	3d view shows model in a cage
v18		added support for top/front/side/corner views
		added code to set drag plane, and highlight the appropriate cage sides
		picking works
		added code for better window tiling (that code needs cleanup though)

12/15/2001	implemented dragging
v19

12/16/2001	implemented UserPreferences class and registry functions
v20		implemented drag snapping 
		redefined 'real' to 'double' & converted to 'double' (d) OpenGL APIs
		create and draw hinges
		create and draw sliders
		automatically sets drag plane when camera moves

12/17/2001	reimplemented property class, now there's one base class and multiple derived 
v21

12/18/2001	'generics.dll' for non-juice-specific helper classes
v22		created bodyproperty class
		made it possible to connect bodies with hinges, using the property window
		added file open, save-as dialog boxes
		implemented Mode::fSaveToFile and fLoadToFile (for bodies - not joints yet)

12/19/2001	now able to delete components
v23		put 'document name' in the application title bar
		resets twin pointers when loading bodies
		symmetric creation and selection work for bodies
		symmetric property modification
		symmetric creation for hinges
		load/save revolute joints 
		created first 'cw' model (and it's only been two weeks!)

12/20/2001	added & implemented the 'look at selection' menu item
v24		flattened cylinder caps (may want to fine-tune this, but seems to work well)
		titlebar keeps the model name when selecting different MDI children
		uses lowest Z hit in pick function
		fixed 3D drag bug - cursor was initially in wrong place (gluPickMatrix hosed the projection matrix)
		shows drag delta and current position in status bar when dragging
		implemented edit|select all
v25		got cut/paste working

12/21/2001	added setup for dynamics
v26		got body dynamics working 
		got joints working
		added mass to body properties list (forgot it way back when)

12/22/2001	got 3D pulling to work
v27		patched ODE memory leaks w/ dCloseODE()
		changed "orientation" to "rotation" almost everywhere in the code (i.e. OrientationYPR -> RotationYPR)
		created VectorXYZ::vRotateBy (VectorYPR)
		got static and dynamic joint angles, but they suck

12/23/2001	added code to filter adjacent bodies from collision detection
v28		got joints showing during animation
		added toolbars (poor layout tho)
		writing MRU list, but not yet displaying in menu

12/24/2001	got toolbar layout persistance working
v29		got file MRUs working
		fixed the multiple-3D-view drag plane bug
		got hinge angles computed from appropriate body axes
		moved pull functionality out of C3DFrame, into Juice::App
		(now continues to pull while mouse is held still)
		fixed bug w.r.t. picking (!dragging) joints while in operation
		now using boldface in the components list to show selection state

12/25/2001	got sliders simulating properly
v30		made CComponentsFrame tree items 'polymorphic' (will support behaviors and motion links)
		replaced CComponentsFrame::hGetItem with a recursive system
		found and fixed a bug w.r.t. deleting components
		made possible to add behaviors and motion links (model, componentsframe, app, etc)

12/25-26/2001	load/save behaviors (names only so far)
v31		removed vSetName from component class, made vOnUpdateName public
		changed StringProperty to use const char* instead of std::string
		nasty bug manifesting in notify/listen code when deleting behavior
			learned that the Notifier<Events> base must appear at the TOP of the list of base classes!
			may be related to the use of static_cast
		added some code to Model::fLoadFromFile to get body/joint names updated in UI
			did I break that somewhere in v30?
		got it to add a motion link for each joint when creating behaviors

12/27/2001	fixed the checkbox bug - see CComponentsFrame::OnCreate for style games
v32		moved TreeItemData deletes to TVN_DELETEITEM handler
		added m_fEnabled to Behavior and MotionLink classes		
		implemented behavior & motionlink enablement checkboxes in component view

12/27/2001	created the Selectable base class, revised selection set, component view, property view
v33		big change, touched a lot of code, this gets its own version of the archive

12/27/2001	implemented selection for motion link class
v34		moved some "step" functionality out of the CMainFrame timer and into Application::fStep()
		got initial toolbar layout working right
		added & implemented View|Toolbars submenu
		created the speed slider toolbar

12/27/2001	implemented model::vStep, motionlink::addforce, joint::addforce
v35		added a way to create Behaviors without lists of motion links, for loading from file
		added jointID, phase, amplitude, and gain to the things motion links write to disk
		implemented symmetric selection for MotionLink class
		made joints listen for component (body) deletion
		made components listen for component (twin) deletion
		implemented properties for motion link class

12/28/2001	scrapped ComponentProperty in favor of JointProperty and BodyProperty
v36		fixed a bug in the property view
		fixed the long-standing bug r.e. symmetrically assigning bodies to joints
		figured out multiple-select for tree view
		moved rest angle out of hinge class, now it's m_rStaticOffset in the motion link class
		added MaxForce to motion link 
		fixed lifecycle bugs, now behaviors and motion links are always destroyed when they oughtta be
		changed property view from TVN_SELCHANGE to NM_CLICK+HitTest, fewer annoying model edit boxes that way
		took hinge::startangle out of GetAngle (taking it out of the class and the file next!)

12/28/2001	moved all registry settings under CURRENT_USER/software/natew/juiceplay
v37		pulled out RegOpenCurrentUser in favor of RegCreateKeyEx to work on Win98
		got rid of UserPreferences ctor/dtor, now making explicit calls to vLoad, vSave instead
		added Color dialog, implemented but has bugs, doesn't always work, doesn't always cancel
		added release-mode build configurations
		chopped out the texture code (permanently?)
		chopped out joint 'rest angle' and 'start angle'
		added physics dialog, implemented friction and bounce

12/30/2001	got rid of Hinge::m_eBody1Axis/Body2Axis
v38		got rid of Hinge::vOnUpdateBody1/Body2
		added call to component::operator= from Hinge::operator=
			(fixed a new bug in copy/paste of hinges)
		added open/save toolbar items

12/31/2001	reimplemented cut/copy/paste, 
v39		Model::vPaste (Clipboard *pClipboard) is now clipboard::vPaste (Model *pInto)
		SelectionSet::vCopy is now Clipboard::vCopy (SelectionSet *pFrom, SelectionSet *pTo)
		objects are duplicated during both copy and paste operations
		added Juice::Application wrappers for clipboard actions
		fixed the bug with the color dialog box
		added the model settings dialog, with speed and pose-delay items
		added WM_PAINT handler for the color dialog
		implemented pose-and-start, eliminated 'crescendo', updated menu and toolbar
		added "changed" flag to the model, and prompt before new/close
		made the pause button enabled even during design mode
		put C3DFrame::vSetCameraPosition back into the timer loop
		added WM_SETCURSOR handling in 3D view
		removed vSetXxxx functions from component, body, and joint classes, now using vOnUpdateXxxxx instead

1/02/2002	tried a template-based Property implementation, ran into a compiler error that would require
v40			HasProperties to come first in the base class list... which would conflict with Notifier's need
			to be first in the base class list.  Dunno why that's an issue with the template version but
			not the regular version of Property class, but got tired of battling it.
		stripped out a lot of std::string parameters in the Property class, replaced with const char*
		got rid of object references in Property classes, now using fnGet callbacks instead
		added Body::operator= to fix a bug that caused a crash when entering operation mode after copy/paste
			bad things when two juice::bodies are referencing one dynamics::body object

1/04/2002	added the mode|follow menu item and toolbar button
v41		changed the main SelectionSet member variable from boolean to a count
		added support for the physics dialog's gravity, ERP and CFM parameters

1/06/2002	added MotionTypeProperty class, added such to MotionLink property tree
v42		added support for prismatic joints in MotionLink::vAddForce
		added MotionType support in ModelFile.cpp
		got continuous, doubletime, and stepped motions working
		added prompt-if-changed to CJuicePlayApp::OnOpenRecentFile 

1/07/2002	unified floating prompt and floating edit into CMicroDlg
v42		added code to notify user if file does not exist or XML is invalid when loading model
		fixed a bug that left kinda-stale pointers behind when twinship was reassigned

1/08/2002	make property tree members static
v43		enhanced Component::vSetName so "LR" becomes left or right, as appropriate, during sym editing
		fixed minor problem with MicroDlg layout
		fixed focus problem with MicroDlg
		drop-list to change the motion-type property 
		implemented @relative changes for RealProperty::fSetValueFromString
		bugfix: changing hinge name DOES change motion-link name, now
		"follow" is now enabled only when the app is in operation mode

1/09/2002	Added code to get joint highlighted when motion link is selected
v44		Went snowboarding

1/10/2002	Created CModelTreeView class and moved functionality out of CComponentsFrame
v45		Added CSplitterWnd to CMotionFrame
		implemented tree view for motion frame
		began implementing motion wave views - displays waves, but not motion phases
		fixed bug w.r.t. camera staying displaced when switching back to design mode

1/11/2002	Revised MotioView class, displays phases now, and has groundwork for phase adjustment
v46		tested on 450mhz, found bizarre behavior due to large time steps
		added min/max delta preferences to registry and physics dialog
		created the web site, couple of screen shots, etc
		fixed bug w.r.t. model::m_fChanged being true when changes were made
			must set it to false after loading model

1/12/2002	moved UpdateCmdUI stuff out of idle processing and into a timer loop
v47		re-enabled body-body collision testing (forgot it was turned off)
		added CJuiceDlg class and animation-pause functionality so dialog boxes pop up immediately
		implemented clipboard actions for behaviors and motion links
		fixed bug w.r.t. motion lines not being adjusted when window is resized
		
1/13/2002	added code to allow user to unselect objects in 3D view
v48		added the "add" toolbar
		added toolbar buttons for add beam/hinge/slider
		
1/14/2002	motion view shows selected motions in bold
v49		able to set phase by dragging bar in motion view
		selecting motions in motion view causes them to appear in the property view
		
1/15/2002	motion view shows continuous motion line 
v50		motion view shows tooltips
		added read-only Name property for motion links
		began implementing selection rectangles
		
1/16/2002	implemented tacking
v51		added ModelOutputFile wrapper around ostream class in ModelFile.cpp, encapsulates XML syntax

1/18/2002	fixed a bug w.r.t. picking and control key use in the 3D view
v52		rearranged 'remaining work' task list, to hasten "1.0" release
			(save the gold plating for later)
			
1/19/2002	fixed the slider-drawing code
v53		fixed motion-link pasting
		fixed the boiling-on-the-ground bug
		fixed a newly discovered null-pointer bug in the properties view
		
1/20/2002	made it impossible to pan while pulling (was already impossible while dragging)
v54		disabled add beam/hinge/slider while simulation is running
		removed the 'mimic' menu items (never actually wanted to use them while editing, so why bother?)
		
1/22/2002	fixed the tree view update/repaint problem
v55		got ED209 walking, redid SimpleAnt
		added friction, ERP, and CFM to the model XML
		added some code to make app-mode UI updates instantaneous
		
1/23/2002	fixed accelerators
v56		simplified the notify/listen pattern

1/24/2002	made progress with selection rects, still not perfect though
v57		fixed bug in ~Notifier: maybe it would be best to always use iterator-less list traversal in destructors

1/25/2002	added snake generator
v58

1/26/2002	removed pause from AppMode enum, added bool flag in its place
v59		made AppMode private, added accessor & manipulator functions 
		fixed bug that sometimes caused blank screen when 'look at' was used during simulation
		added 'look at' toolbar item
		added accelerators for create beam/hinge/slider
		added keyboard support for zoom in the 3D view
		cleaned up ModelFile.cpp a little bit, added more comments
		added C3DFrame::PreCreateWindow to get CS_OWNDC for the 3D view windows
		disabled selection rects
		
1/27/2002	revising behavior/motor stuff
v60		move gain, max-force into juice::joint class
		added a movement accumulator to the joint class
		revise model->step to sum up results of all motions, then compute force
		fixed bug re camera not re-centering after opening file, or File|New
		improved tacking support - can now set/release the tack during simulation
		added help text to dialog boxes
		added motion source to behavior class
		added joystick control
		
1/28/2002	added AmpMod
v61		removed the 'averaging' of motions
		got dihno steerable and leanable
		added "amp mod" support
		fixed bug w.r.t. setting check box states in tree view
		added behaviors to dog & dino
		
1/29/2002	removed 'present angle' joint property
v62		fixed copy/paste of behavior
		added joint stops
		fixed a bug with microdlg control layout
		fixed sort order in microdlg drop list
		did most of the feedback code, stuck on a lin. alg. problem though
		
1/31/2002	added "generate manypede"
v63

2/01-07/2002	tried new approach to feedback
v64		added motion source type enum
		found and fixed bug w.r.t. stale behavior::feedbacksource pointer after loading file
		got pitch and yaw feedback working
		roll still a mystery
		
2/11/2002	finally got roll feedback working
v65		fixed bug w/ joint stops (degree/radian conversion - only worked right w/ setting of zero)
		consider it 'shipped'
		
v66		fixed a bug: global physics parameters were not being reset after model is loaded - now they're reset in Model::vPrepareSimulation

2/22/2002	switched over to new XML serialization scheme 
v67		(only 15%/16% faster in two test cases, one showed 3.9 vs 4.6 seconds to load Dihno)
		added "import" menu item				

2/23/2002	began adding code to get xml file version attribute, but it doesn't work yet
v68		set speed slider 'page' increment to 10
		added wider ground grid when camera leaves cage area
		
		
3/02/2002	split Behavior class into Behavior and ClockworkBehavior
v69		split MotionLink class into Motor and ClockworkMotion
		created PropertyTreePtr class to get rid of the inelegant deletes in ~Model	
		
		broke the cut/paste of behaviors
		broke behavior creation
		broke motion view
		
3/04/2002	rewrite of cut/paste stuff
v70		rewrite of twin and joint-body pointer fixing stuff

3/08/2002	started integrating mpegout
v71		fixed bug that cropped up in vDoPull during the conversion to RTTI

3/11/2002	added shadow code
v72		addressed window-resizing problem during mpeg recording
		found bug in mpeg code, now uses hard-coded file name only
		
3/14/2002	put clockwork motion view code back in
v73		found and fixed bug r.e. multiple motion view windows
		removed mentions of motion "source" in string table
		reimplmemented behavior copy/paste
		got multiple motion view window classes working
		
3/21/2002	added stubs of network behavior and motor classes
v74,75	fixed bug: delete hinge, it remains in tree view under behaviors
		fixed bug: set feedback source, then control source, get crash... vice versa, no crash
		fixed bug? change joint names, motor names don't change to reflect that (same cause as above?)
		fixed bug: LookAt point is wrong with the pogo model - and any model with sliders
		Model::m_Behaviors is a XmlStreamablePolymorphicPointerList

3/23/2002	Behavior::m_Motors is a XmlStreamablePolymorphicPointerList
v76		Generic::GraphControl compiles, but not yet tested

4/10/2002	adding code to create network behavior nodes
v77		added code to force display of properties of behaviors selected in motion views, without affecting global selection set
		began fleshing out various node classes
		moved property tree cleanup into ~Application

4/12/2002	got load/save working for the network graph
v78
		
4/14/2002	removed pseudo-rtti from property classes, now using real rtti
v79		added parameter to Breakpoint() macro
		added edge-picking code
		
4/14/2002	added preference-based colors for graph objects
v80		added support for deleting graph objects via UI (via lots of notify/listen infrastructure)
		
4/15/2002	added graph compilation and execution
v81		double-buffered the graph control
		got rid of the jump when dragging nodes
		moved motor list stuff out of base behavior class and into clockwork behavior
			there is no 'motor' class, only 'clockworkmotor'
			
4/16/2002	added support for graph panning (aka scrollable network view window)
v82		nodes and edges notify network when changed/deleted
		network notifies views when changed
		view repaints when network changed
		motor nodes now properly get pointed back to the correct joints
		
4/17/2002	added range and offset parameters to the wave node
v83		enabled selection of multiple nodes & edges
		moved node size/dims out of Graph::Node, into Juice::Node
		got both simpleant gaits implemented with networks
		implemented 'ramp width' in the wave node
		
4/18/2002	fixed a memory leak that only happened if you destroy all 3D views then create a new one
v84		lots of work on the Network.h dox comments, found some good idioms for -events and -list classes
		added dox stuff to the devbackup zip
		added code to hack out the video recording menu item in release builds
		fixed flicker problem w/ motion view
		
4/19/2002	fixed bug r.e. only one network behavior showing up in new motion view windows
v85		reposition all nodes for 0 offset after dragging the whole graph around

4/20/2002	added constant and multiply nodes
v86		when creating a new edge, a pseudo-edge is drawn to show what's going on

4/22/2002	can now drag groups of nodes
v87		initialize the multiply node value to 1, not 0, with each step
		made it impossible to use constants or motion sources as edge destinations
		added code to ignore the mouse if it moves outside the graph control while dragging
		
4/22/2002	revised significant amount of the clipbard code 
v88		enabled cut/copy/paste of nodes, networks, groups of nodes
		updated the Generate(Snake|Manypede) code to work with new Clockwork behavior classes
		
4/23/2002	fixed problem w/ newline chars in property microdlgs
v89		another major revision of the clipboard code: Selectable::vPaste & vOverWrite both rolled into fPaste
		now can paste many things 'into' preselected objects		
		new components are now pasted in with a slightly different position
		but pasting over an object does not change its position
		
4/24/2002	wheels!
v90		and motor nodes that set velocity, not position (this took a few changes to the joint base class)

4/25/2002	spheres
v91		segway and 6pack models

4/25/2002	ball joints
v92

4/26/2002	put gravity into the model files
v93		
	
4/28/2002	fixed long-standing never-noticed bug w/ joint orientation
v94

4/30/2002	added code to fix crash bugs when slider.body1 == slider.body2
v95		added test to ensure that you don't create an edge from a node to itself

5/08/2002	fixed the pick-on-shadow bug, greatly cleaned up RenderModel.cpp code
v97		2nd joystick support, buttons and hats in the lowlevel code but not in the UI or sim yet

5/08/2002	terrain rendering, but no collision
v98	

5/09/2002	now linking to ODE DLL, demeter removed for the moment (digging into issues w/ ODE memory pseudoleaks)
v99

5/09/2002	new linking to both ODE.DLL and Demeter.DLL
v100

5/09/2002	integrating ODE and Demeter
v101

5/10/2002	debugging the integration, still not functional
v102	switched to dSINGLE to play nice with tri-collide, which expects float[3] vectors
v103	might consider going back to dDOUBLE and tweaking tri-collide's call to dGeomGetPosition
		
5/11/2002	got terrain working
v104	tweaking lighting a bit, still not satisfied tho
		fixed box vertex normals
		
5/12/2002	improved lighting
v105	

5/13/2002	more lighting improvements
v106	got it reloading terrain safely
		fixed terrain-related memory leaks (all clean now)
		revised to work with MSXML4, not MSXML2 (oops)
		got terrain|new menu working
		
5/14/2002	added keyboard camera movement to 3D pane
v107	found/fixed a couple bugs in Demeter
		disabled terrain menu during simulation
		fixed lighting on terrain
		
5/15/2002	fixed: after maximizing an MDI child, then tiling, clicking on any MDI child maximizes it		
v108	(but the fix brought in a new problem)
		made 'new terrain' dialog more interactive
		added status messags when 'load terrain' fails	
		added help text to the New Terrain dialog
	
5/16/2002	fixed a bug with file loading
v109	
			
5/17/2002	fixed a bug in the color select dialog (don't sort the listbox!)
v110	got shadows working on terrain

5/17/2002	changed the mouse wheel handling, now it's * rather than +
v111

5/18/2002	added a bit of code to set focus to 3d window on left or right mouse click
v112		
	
6/07/2002	fixed bug w.r.t. being able to (appear to) create an edge to nowhere
v113	fixed bug w.r.t. not being able to assign twins to joints
		added damping to the 'pull' force
		
7/1/2002	fixed bug w.r.t. hinges not being drawn at correct angle in design mode		
v114	added motorcycle.jm to release package, removed some old models

8/08/2002	fixed hard-to-repro bug w.r.t. moving objects during symmetric editing
v115	added two ornithopter models, bird1.jm and bird2.jm

8/12/2002	polished code a bit for job application
v116	fixed bug w.r.t. X position during symmetric editing
		moved the motorcycle's steering hinge backward for proper "triple-clamp" offset
		
8/16/2002	added code for symmetric roll and pitch property updates
v117

8/28/2002	copied motor nodes keep their joint pointers
v118	clicking on the network background selects the behavior
		fixed release-mode bug w.r.t wglMakeCurrent, probably happened in v116
		
8/29/2002	added absolute value 
v119	added SimpleHex.jm

8/30/2002	added limit node class
v120

10/18/2002	created an abstract base class for dynamics stuff
v121	moved all ODE code to an implementation of said class
		should be pretty easy to add novodex support now
		
10/18/2002	created JuiceDynamicsODE.dLL
v122	deleted the long-obsolete GraphEngine project

10/18/2002	split up the source files in JuiceDynamicsODE.dll
v123	should be even easier to add novodex support

10/19/2002	rebuilt with ODE as dSINGLE but real as double
v124	tried ODE with dDOUBLE but found that tri-collider requires floats
		tried supplying floats in the right places, had tri-collider crashing anyhow
		
10/22/2002	first build of JuiceDynamicsNovodex.dll
v125	doesn't actually work or anything, but it compiles nice

10/23/2002	added late loading of physics DLLs
v126	got novodex bodies to collide with each other and with plane

10/23/2002	Novodex hinges, sliders, and ball joints are working now
v127	get rid of the vConnectBodies methods in DynamicsAPI, now doing that stuff in vCreate

10/24/2002	added DynamicsFactories
v128	switched ODE to the new cylinder class
		changed the way cylinders are drawn - hinges no longer have domes
		added FPS status pane
	
10/24/2002	got the 'choose physics library' dialog box working	
v129	

10/25/2002	added UI support for both cylinder and capsule shapes
v130	gave hinges domes again, body cylinders have no dome, capsules do
		fixed a lurking build problem due to "treat wchar_t as built-in type"
		
10/29/2002	added pointer tests in case Novodex SDK init calls return null
v131	added pointer tests so 'tack' doesn't crash
		added test so that Novodex isn't listed in the dialog if it doesn't initialize properly
		
10/30/2002	added Render Joints registry setting			
v132	Created Generic::XML namespace, renamed XML serialization support classes

11/05/2002	added support for copying and pasting network behaviors
v133	fixed minor bug w/ component yaw property and symmetric editing		
		fixed crash bug w/ deleting body that was used as motion source for trivial behaviors
		
v134
		turned off the rendering when app is iconic
		added code to load textures into BMP rendering context when recording
		
03/26/2003	Updated to ODE .35
v135	cleaned up the build environment a bit
		moved some required binaries into Install/DLLs
		
04/24/2003  Added support for dWorldStepFast
v136	Changed CreateFactory method to accept a "FactoryID" parameter, so each dynamics DLL can support multiple factories
	
04/28/2003	Changed the dynamics library loading routines to give better error message when things go wrong
v137	

5/??/2003	Fixed installer bug, fixed bug w/ terrain and boxes
v138

5/27/2003	Removed RANDOM_JOINT_ORDER from dWorldStepFast to make it deterministic
v139	Added Trebuchetsturvat.jm to the distribution
		Changed RenderViewport.cpp so the cage is drawn only in design mode
		Added XmlNode class (compiles, not tested) to represent XML DOM during file load 
		
5/28/2003	Finished XmlNode-based file loading, it's so much faster it's ridiculous
v140

5/30/2003	Added .jm3 file format
v141	dynamics library constants are now separated from Model info
		different sets of constants can be used for each dynamics DLL
		
5/30/2003	Refactored, got rid of the Dynamics::Factory classes
v142	World class now does what Factory used to do
		constants are now a member of the World class		
		
5/31/2003	Reimplemented ODE physics dialog in ODE physics DLL
v143

6/1/2003	Put in a 'general options' dialog with the min delta / max delta parameters
v144	

6/11/2003	Refactored the XML input code, created the XmlInput class to wrap XmlNode
v146	Wrote code to fix serialized pointers in the serialization code rather than in the application
	
6/17/2003	Commenting and beautification of the recently revised code	
v147

7/2/2003	Fixed a minor (very minor) bug in the rendering code (invalid value for a light parameter)
v148	Revised the JuiceError class, it's now Generic::Exception

08/09/2003	Minor changes to load/save stuff
v149	fixed bug: vSetChanged(false) wasn't getting called when saving
		fixed bug: UI wasn't getting component names after loading file
		got rid of vAfterDeserialize, put that code into Model::Serialize
		Made Stream::m_eOperation private, with a public accessor for read-only access
		fixed bug: setting the look-at point doesn't (didn't) update the viewports if 
		you do it during design mode
		
08/14/2003	Fixed bugs in network behavior copy/paste
v150

08/15/2003	Fixed minor bug in load/save code w.r.t. 'm_fChanged' 
v151	Fixed major bug in load/save w.r.t. updating pointers before updating UI
		Fixed terrain triangle conversion problem, now the physical terrain matches rendered terrain exactly
		
08/15/2003
v152	Fixed minor bug in cage-drawing code, boxes now line up perfectly with the cage lines

v153	Added debugging code in netbehavior copy methods
		Found/fixed bugs in SliderQuad.jm3, probably caused by old code (not sure tho)
		started sketching out the external behavior API
		noticed memory leak!
	
Ran 'project line counter' at this point:
203	files (h, cpp, rc)
47256 	lines
26490 	code
12419 	comments
370 	mixed
8717	blank
38539	net lines
this does not include ODE, Demeter, or any other 3rd party libraries
	
10/8/2003	
v154	Revised to build with VS.Net2003 (7.1)
		Found bugs and fixed in serialization code (not sure if they were due to the compiler update)
		no memory leak found
		removed the pseudo-RTTI stuff in the Component class and derived classes
			still have more testing to do
			search for eGetType, test those code paths before deleting commented-out code

10/11/2003
v155	Found and fixed a bug w.r.t. stale behavior pointers in CMotionFrame and CNetworkView
		searched for Component::eGetType, tested those code paths, deleted the old commented-out code

10/13/2003
v156	Renamed XmlNode class to Node since it's in the XML namespace
			Found ambiguity with Juice::Node in NetworkBehavior.cpp
			Removed "using namespace Generic::XML" from DynamicsAPI.h
		Got old .jm files to load again
			enhanced XmlNode class to store a list of Attribute name-value pairs
			look for SerializationVersion Attribute in top-level node
			this requires old .jm3 files to have the first line changed to:
				<JuiceFile FileVersion="1" SerializationVersion="2">
10/22/2003
v157	Fixed a bug that caused the last version to write files with a first
		line ending with ="2"">
		Fixed a bug the caused the app to crash when opening such a file
		Rebuilt Demeter with MSVC71, added project to solution
	
	
11/06/2003	
v158	Added code to hide the Train menu item in non-debug builds
		Added support for key up/down and left/right
		
11/07/2003
v159	Added basic functionality to the training dialog box

1/30/2004
v163	Rebuilt installer with MSVC70x.dll and MSVCRT.dll
			
Priorities:

	GA interface
	external control interface	
	Grep for TODO
	undo-redo
	attach camera to body (or should this be a separate app?  JuiceArena?)



future features with Novodex dynamics library:
	use CollisionVeto to eliminate contacts between adjacent bodies
	Novodex sliders don't draw properly (no stretching, like old ODE sliders)	
	get terrain working w/ Novodex	
	"tack" support (will need to stop creating a body object for the 'tacked' body, as Novodex doesn't support the 'fixed' joint)
	cylinder collision hulls (no primitive for this at the moment)
	0-def joint for tacking objects to the environment
	hinge joint rGetAngle
	hinge joint motor: Novodex::RevoluteJoint::vAddForce (real rVel, real rForce)
	slider joint motor
	slider joint rGetExtension
	
Easy (?) bugs:
		
	don't allow position/orientation editing during simulation mode
	convert ground.ppm to ground.png (should get MUCH smaller file that way)
	close editbox microdlg on enter? no, not a bug
	
							
Hard Bugs:

	Window|Tile causes a bit of flicker during retiling, see notes in CMainFrame::OnTile

	mpeg dll stuff not real stable

	somehow the simpleant.jm files got hosed - joints referencing twins of the intended bodies, etc
	keep an eye out for that, if that happens again, find out why
						
Future features:
	
	support multiple file formats (XML, ODS, ?)
		create something analogous to the 'formatter' classes in C#
		
	Support ODE's Hinge-2 joint
	
	Support Novodex's many many joints
			
	clean up the separation between 'application' and 'editor' functionality
	
	get most headers (e.g. model.h) out of JuiceEngine.h so the dynamics DLLs won't need full rebuilds so often

	shift-drag to change look-at point
	
	undo/redo:
		delete object
		add object
		change object property (incl. position of network nodes?)

	get UI to use Selectable::m_pParent for hierarchies - could simplify the ModelTreeView?
		change components view to "explorer" style
		root items: model(s), environment(s)
		give the model a notion of 'root beam'
		make components tree update dynamically as items are expanded
		add 'set as root beam' menu item
		
	attach camera to a body
		create special "camera" component type?

	new behavior nodes should be cascaded, not piled up
	
	UI/sim support for hat switch, joystick buttons
	
	v1.X genetic algorithms tune behaviors
	v1.X attach arbitrary meshes to bodies (just for rendering purposes)
	
	draw joints with cool line-to-plane intersection stuff (add arms to hinges during simulation)	

	? merge function nodes and motor nodes into a single list in NetworkBehavior
		what about pointer-fixing... use iskindof to find/fix motor nodes?
		what else would that break?			
	
	fish-eye network view?
	
	clean up the clockworkbehavior and clockwork motor classes
		they're probably too complex due to the base class fork that happened for a while
		
	preferences dialog box 
		????	snap resolution
		real	cage size
		bool	pause animation for dialog boxes
		bool 	process only ground collisions
		bool	hide joints during simulation? (faster?)
		bool	use textures when drawing ground
		bool	collide with cage walls?

	toolbar buttons for drag planes
	
	selection rects
	
	render clipboard as XML (a small model file)

	physics dialog: separate params for body-ground and body-body contact params (friction/bounce/ERP/CFM)	
	motion view shows hand cursor over motion bars
	
	logging mechanism
	
Stuff to document in detail:
	physical constants for each dynamics library
		each factory should define a Serializable structure of the constants it needs
		each world should be able to get those constants from the factory during vPrepareSimulation
			factory gets a 'get constants' member
			world constructor take pointer to factory, stores that ptr in a world member
			vPrepareSim uses that pointer to call the factory's get constants member, initializes simulation w/ the constants
		when saving a model, the constant structs for each factory are saved with the model
		when loading a model, the constant structs are initialized from the file
	
New behavior system:
	the new behavior class consists of:
		a list of actions
			what is now network behavior should be coupled with a "Context"
			the pair will be called an action		
				e.g. stand on left foot
				e.g. lunge to right foot
		a list of "skills"
			a skill enables a group of actions (is factored into the context value)
				e.g. walk
				e.g. turn
		something (FCM? control net?) to shift power from one skill to another
				e.g. walk, turn, follow

Inelegancies:
	cannot pan & drag/pull at same time
		
environments
		add Environment class in JuiceEngine.h
		
		typedef std::list<StaticObject*> StaticObjectList
		
		class Environment
			StaticObjectList m_Static
			what else?
			gravity?

		class StaticObject
			typedef enum 
			{
				stInvalid=0,
				stBox, stTube, // stBall
			} Type;
			Type m_eType;
			VectorXYZ m_vecPosition;
			VectorYPR m_vecOrientation;
			VectorXYz m_vecBoxDimensions;
			real m_rTubeDiameter;
			real m_rTubeLength;
			// real m_rBallDiameter;

		?? class StaticObject : public Component ??
			
		add m_Environment to Application

		when going to sim mode, create collision objects

		//create project file object for .jp files
		//class JuiceProject
		//	std::string m_strModelPath;
		//	std::string m_strEnvironmentPath;
		
		make File|Open dialog support .jm & .je file types // and .jp 
		on .jm, open model; on .je, open environment
		//on .jp, open one of each

		if user opens model, adds static object, save as modelname.je by default
			make current doc modelname.jp	
			
To create a new network node class

	add declaration in Network.h... must include:
		property tree (at least create a base class tree and return a pointer to it)
		property getters and setters
		static creator function, for use by the FunctionNodeList class (serialization)
		
	implement that static creator (currently they're all at the top of NetworkBehavior.cpp)
		
	add two creator functions in Network.h
		one that returns a node pointer (who calls this, besides the fnInvoke wrapper?)
		one that returns void, to fit the fnInvoke property signature
		
	add serialization code in ModelFile.cpp
	add a line in NetworkBehavior::NetworkBehavior, to prime the function node list serializer
				
	
	
// linear motor
//
// similar in function to angular motor, but 
// (a) controls only one axis; 
// (b) controls linear, not angular, motion
// (c) axis is always relative to body 1

struct dxJointLMotor : public dxJoint {
  dVector3 axis; // motor axis
  dxJointLimitMotor limot;
};