BEPUphysics

Surely that should be enough to overpower the vertical force...right? I'm still not seeing anything happen, no upwards movement at all. How about downwards movement? :P https://github.com/bepu/bepuphysics2/commit/1f2bc4583df038b2805825d24ced659f97fa26d1 The LinearAxisMotor.TargetVelocity had an uni...

new MotorSettings(100, 1) A softness of 1 is extremely soft. Softness is equivalent to the inverse damping for a motor. Higher softness values allow the constraint to be violated more. Zero is perfectly rigid. If you want a pretty rigid response, try values near zero like 0.001. Also, note that the...

I may have understood how these are designed to work. I assumed that the local offsets defined the start and end of the "ladder". So if I wanted a ladder to go from -4 to 5 (in local space), I would set them up like I did. Is that wrong? The local offsets describe the offset from each body to their...

a link to a demo that deals with PointOnLineServos specifically The PointOnLineServo is used in the CarDemo for wheel suspensions and in the ConstraintTestDemo for isolated tests. Do the bodies need to be within a certain distance of each other in order to be able to link up with the constraint? No...

Performance-wise, are there any I should use over others when possible or is the difference negligible? Unless you've got thousands of them, it'll probably be hard to measure the difference. I suspect the PointOnLineServo/LinearAxisServo combo would be very slightly slower than BallSockets due to b...

Constraints are useful when you want a high level of robustness during interactions with other constraints and collisions. A heavy door with a very rusty hinge that requires a large amount of force to overcome is a good use case, since the hinge's resistance is large enough to meaningfully interact ...

In terms of adding ladder support to the controller, I'm wondering if it's possible to make a certain body climbable for the character no matter the angle...basically to allow the controller to use it as a support even if it's vertical or on a slight overhang. Is something like this possible? If yo...

Across v2, the term "index" refers to the current location in memory within whatever buffer is relevant. So in this case, index is the correct term. The pose integrator iterates over all bodies in the contiguous active set, so the index is the most directly useful value. "Handle" refers to the ident...

A couple of notes: 1) If the character.ViewDirection is not on the horizontal plane, that version will create a _worldMovementDirection which is not on the horizontal plane. In the CharacterDemo version, a second cross product is used to complete the horizontal basis. 2) The airAcceleration needs to...

I can't reproduce this in the demos without setting the BodyActivityDescription to extremely aggressive values such that the stack falls asleep before it can accelerate due to gravity. Notably, removing a body already forces the associated island awake, and removing a static forces all bodies touchi...

Yup, that's exactly right. Notably, the only distinction by convention between a 'normal' constraint like BallSocket (which has a position goal) and a 'servo' is that servo types tend to also have a ServoSettings value that offers more control. Constraints like BallSocket omit that parameter as an o...

Two things likely happening: 1) v1 split friction into kinetic versus static. Static tended to be higher, so unmoving objects (relative to the support) slid less. 2) v1 arbitrarily boosted inertia tensors by default, making them less prone to rolling. So what you are observing is expected behavior. ...

OneBodyAngularMotor with a target velocity of zero sounds like it would do the trick. Notably, the "softness" parameter in MotorSettings is equivalent to the inverse damping constant. For cases where the door is attached to another body and you want the damping forces to correctly propagate, the Ang...

I added a little example to the CharacterDemo showing one possible implementation: https://github.com/bepu/bepuphysics2/commit/3b790c292bd63567e919e0a0bcfc2f67376d5c73 (The pseudocode snippet I posted earlier had a sleepygoof- the target velocity should not be clamped against zero, the change should...

For greater stiffness, you'll need to use a higher frequency on the SpringSettings. Try using spring settings of 30hz frequency and a damping ratio of 1. Higher frequencies make the spring more rigid, but be careful about pushing it higher than ~half your timestepping rate. (For example, a time step...