BEPUphysics

I've considered it, but there are a couple of problems. The bepuphysics community isn't exactly large- there usually wouldn't be anyone else to talk to, unless I was hanging around- and discord chats aren't externally searchable (as far as I'm aware?). Anything that happens within them won't be foun...

Is it actually flipping the winding, or are the demos just using a different backface convention? Triangles in v2 are one sided and collide only on the clockwise side. The demos renderer matches this convention.

The physics library is fully separate from the demos framework or any other form of rendering or content pipeline, and the demos only exist as a form of documentation for the physics itself. So, I didn't build the demos framework with reuse in mind and don't expect others to find it particularly use...

Thanks,I hope BEPU 2 will be a superstar in c# game programming world!

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Yup, right now, Compound is the right choice. Changing the center of mass is equivalent to offsetting the collidable, so rather than having a dedicated 'collidable offset' on everything I just let the Compound handle it. Notably, the Compound (as opposed to the BigCompound) has effectively no overhe...

Hard to say- there are some compatibility concerns: https://github.com/bepu/bepuphysics2/issues/80 At this point, the only way to do it without disruption would be to support both (likely with some kind of codegen). That isn't terribly quick and I've got quite a bit of other stuff that takes priorit...

The easiest thing to do would be to have the dinosaurs modeled by a character controller (like the one in the demos), and use A* to set the character controller's target velocity. No transition between A* control and physical control required- it's always both. If for some reason using a physical re...

You could adjust the relevant CompoundChild's pose (and, if it's a BigCompound, refit or update the Tree) and then update the inertia tensor for the new configuration, but modifying a shape is equivalent to teleportation as far as the solver is concerned. If anything is physically interacting with t...

The dt value passed Simulation.Timestep should ideally be a constant value. Using the elapsed time directly is pretty much guaranteed to cause nasty stability problems. It's fine to use a variable step for other logic if desired, but simulation timesteps should only be dispatched with a well-control...

Something has gone wrong and NaN values have infected the simulation to the point where the broad phase is now turning into a NaN mess. As the assert says, there are likely invalid body poses or velocities. It's hard to say where it's coming from, but good first places to check are: 1) Any direct mo...

Is broadphase can sense static? Is dynamic and static object can share same handle? Yes to both. The broad phase reports CollidableReference instances which have a Mobility property that can be used to distinguish between bodies and statics. Note that the handle and mobility flag are packed into th...

Just to check, the Simulation.TimeStep is being called with a constant time, right? If significantly varying values are provided from frame to frame, it could cause instability.

It may be related to ghost collisions, though those tend to be pretty darn rare with a speculative margin of 0.1. You could try reducing the speculative margin further to a small nonzero value (0.01 or something) to see if it becomes rarer. The speculative margin of a pair of objects is the larger o...

1) I'd probably need more information/a reproducing example to figure out the jumping. If it's actually a character jump, could there be something somewhere incorrectly updating the character's TryJump status? 2) It looks like the maximum horizontal force is 1, not 100. With a mass of 1, then accele...

Yes, the contact manifolds provide the surface normal. Nonconvex manifolds have per-contact normals while convex manifolds have a single shared normal. You can use the IContactManifold.GetContact or GetNormal retrieve the normal if you're dealing with the generic callback.