BEPUphysics

What does more geometry mean in this case? Bigger world nodes so that crossing borders happens less often? Or is there a way to create som kind of "skirt" that would help the solver? I was referring to larger nodes (or one single giant mesh), yes. A skirt could help in some cases- if some extra geo...

Yup, a bunch of relatively small separate meshes interacting with high speed objects is close to worst case for a lack of boundary smoothing. SpeculativeMargin seems to have no effect. Is that after modifying both the mesh and the problematic objects interacting with the mesh? The effective speculat...

Hmm... with the latest master, I still don't observe it in the demos with 0.15 radius. There still might be something wonky going on that would be worth tracking down. If you can get it to happen in the demos (with an appropriate speculative margin/MinimumSupportContinuationDepth/vertical glue force...

The BroadPhaseEntry type associated with an Entity is the EntityCollidable. You could try a cast then use the Entity property, then check the position/orientation.

For static colliders, you can cast the BroadPhaseEntry directly to the type. For example, StaticMesh is a BroadPhaseEntry.

Not in a single function call. ClosetPointOnBounds is a very simple function: closestPointOnBounds = Vector3.Max(bounds.Min, Vector3.Min(bounds.Max, point)); For the closest point on a collider, it's a little trickier. The underlying algorithm is there, but it's not exposed directly for this use cas...

You could try casting the BroadPhaseEntry to a Collidable, and examine the type of its Shape. Or you could store some custom metadata in the Tag property of the relevant BroadPhaseEntry instances. (Note that for entities, the entity.Tag is not the same as the entity.CollisionInformation.Tag; the lat...

You could use collision rules, but having an object in the Space doing nothing comes with a slight performance penalty that simply removing it avoids.

Hmm- with the patch and a suitable MinimumSupportContinuationDepth, there should be no unsupported frames if boundary seams are actually the problem. In the demos there are no unsupported frames across boxgrid seams with it. It may still move vertically a little bit, but significantly less and the S...

#3 added: https://github.com/bepu/bepuphysics2/co ... dbbfcea03f

Seams in separate objects are a tricky business. When the capsule moves near the seam, it's possible for contacts to be generated with a nearby box such that the normal does not point perfectly vertically as it would on a single flat surface. That misaligned normal can redirect the character's motio...

Adding the box to the Space is not required. The issue was that the bounding box of a new Box is not initialized until after the box is added to the broad phase by default. So, with minimal changes to that snippet: List<Entity> OverlapBox(BEPUutilities.Vector3 position, float width, float height, fl...

Objects go inactive after having linear/angular velocity below a threshold for a while. In v1, you could check the entity.ActivityInformation.IsActive property.

If for some reason that's not workable, you can also directly examine the entity.LinearVelocity and entity.AngularVelocity.

I am not familiar with v1, is there anything strange in the profile screenshot? (Too many calls? unusual method execution time?) Nothing specific- all of the times are just way too high. The mesh-convex pair is taking 146ms for 30 calls, or almost 5ms per mesh-convex test. Under normal circumstance...

Space-wide queries rely on the broad phase. Setting a position will not update the broad phase's data structures directly. After updating positions, you'll need to update the collidable's bounding box (entity.CollisionInformation.UpdateBoundingBox) and then update the broad phase (Space.BroadPhase.U...

There are two stages: querying for potential overlaps, and then computing contact level data. You can ask the broadphase for potential overlaps using a bounding sphere or bounding box with Space.BroadPhase.QueryAccelerator.GetEntries, and then you can walk through those, generate pairs, and then eva...