BEPUphysics

Pretty much, with one small note: using a collection of pools does not necessarily imply locking and contention provided that every worker has a guarantee it's the only one touching a pool; the annoyance is primarily ownership tracking. Also, assuming that the shapes you're concerned about are prima...

Is there a downside to holding onto the same pools for the lifetime of the app? If we Return memory, but never Clear the pool, will it leak? A leak could happen if you let a BufferPool go out of use while it retains pinned references to memory. If you intend to let a BufferPool get garbage collecte...

I'll definitely consider it, but could you elaborate more on your use case so I can understand the context better?

Rewind-replay clientside prediction is generally doable even without any clientside determinism due to the very short timescales. If you are seeing massive divergence on the client over ~100 milliseconds in a simulation that isn't super chaotic after copying motion states, there may be other problem...

Collecting the motion state (position, orientation, linear velocity, angular velocity) gets you 95% of the way there. It's true that it's not a full snapshot, though- the activity state of bodies, the constraints that exist, the accumulated impulses cached for those constraints, and so on all matter...

Unfortunately that's an oversight. I didn't really think about using both in one project, so unless there's some automagic nuget stuff for handling collisions in dependencies that I'm unaware of, one easy option is to pull down one or both as source and add a project reference, and then modify the o...

FYI, updated nugets: https://www.nuget.org/packages/BEPUphysics/2.3.0-beta0

It's automated now, so they'll be quite a bit more frequent. There's supposed to be a package uploaded to the github registry too, though that's... currently failing for inscrutable reasons.

If it's convenient and speedy enough, it'll be fine. As always, being 'speedy enough' depends on the data access patterns. If you need to jump through those indirections a million times a frame, it might require some more attention, but otherwise, might as well do the simple thing.

Historically, infrequently to the point of inconvenience. I keep intending to set up automatic prerelease publishing. I might just do that today while I wait on my ML training runs to fail

Good catch. There's a (bad) reason: laziness! The BodyProperty was a piece of demos-focused code that was intended more as an example than anything else, since it doesn't do anything special. At some point I moved it into the engine and didn't generalize it (or even update some of the comments, appa...

Unless there's a reason not to (like performance budget), I'd recommend just going with running the simulation forward. There's no built in 'rewind' functionality, but you could cache the original position/orientation/velocities and reset them afterwards. Or create a separate simulation, create equi...

I would recommend against modifying velocities in the CreatingContact event handler. While you're presumably only using one thread to guarantee determinism in v1 so it shouldn't cause a race condition now, it may help avoid future confusion or bugs if it's in a safer location. Consider enumerating c...

The easiest thing to do would be to keep a reference to the whole StaticMesh for later use. You can remove it from the Space and re-add it later. There's also the InstancedMesh, which is very similar to the StaticMesh but doesn't bake the world transform into the underlying tree so the shape it uses...

Unfortunately, I don't have enough information to suggest anything in particular. It definitely shouldn't be throwing access violations :P If you can reproduce it in the demos, I could take a closer look. Grabbing the source and running in debug mode could help too- there are a lot of asserts that w...

Are you using multiple threads to add to/remove from the simulation simultaneously, or while the simulation is running? Both will definitely corrupt the simulation and things will fail in arbitrarily bad ways. If it's not that, the fact that you're seeing access violations means something has gone t...