BEPUphysics

Thanks for trying it out! Increasing the friction to very high values can provide an arcadey feel. A center of mass offset down the y axis can help keep the car from rolling during sharp turns. Altering the mass distribution can also help- in the demos, removing all the mass from the upper block can...

The model can be aligned with the collision shape without any modification of the entity's center of mass, preserving its normal rotational behavior. To place an entity on the ground instead of halfway sunk into the ground, you just need to add half the object's height to the position. For example, ...

It sounds like the model you're using was built away from the origin. When the origin of the model is moved to the position of the entity, it is still offset. If this is your issue, translating the model so that is centered on the origin before moving it to the entity should fix the problem. Modifyi...

When you set centerOfMassOffset to something, nothing at all changes? The object itself won't move, but it will behave differently- is it still acting like a perfectly normal object? Adding an object to a CompoundBody should cause all involved bodies to rotate around the common center of mass; what ...

I'm not sure exactly what you're trying to do; are you just trying to modify the position of the center of mass relative to the geometric center? If so, the centerOfMassOffset should be doing what you want. There does seem to be a problem right now with the offset which causes contact caching to beh...

Since v0.7.0 won't be ready for a little while, I went ahead and finished up an early version of the new character controller. It's not perfect, but it should be a significant improvement in usability compared to the earlier versions. The source code is released under the same permissive zlib-style ...

You could create separate StaticTriangleGroups from the individual meshes, yes; from a runtime speed perspective though it's somewhat faster to keep them all together for the most part.

I'll see what I can do to make the loading times more manageable in future versions.

At some point I plan to incorporate saving and loading for the heavy duty load times (bounding volume hierarchy initialization of the static triangle group being a big one). This might make its way into v0.7.0, though it's hard to say for sure. Just curious though, how many triangles are in your wor...

The wheel's rotation (and position for that matter) is purely a graphical effect. This can be managed separately from the engine's systems. In v0.6.1, this is a little easier to do since the wheels provide more information. I'm planning on releasing v0.6.1 in the very near future, as well. i tried t...

If you mean something that would assist in a traditional skeletal animation system, no, there is nothing built in that would help much. Additionally, there is no support for inverse kinematics if that was what you needed. If you need something like a physically simulated, self balancing character, t...

I can't replicate the intangibility problem. The systems are pretty much unrelated; is the other entity isAlwaysActive? Or is the intangible body active itself? Those two cases would keep the other body awake. If you don't want that behavior between the bodies, you can modify the noncollidable lists...

The inclusion of the KinematicCharacterControllers was more of an accident, since as you can see, they aren't quite working great yet :D They were basically experiments; the only things I consider robust in them were the fundamentals of stepping. Update: Source code for an early version of the new c...

v0.6.1 *might* have it, though I'm leaning towards v0.7.0. v0.6.0's got some issues I'd like to address sooner than later, so if my latest plans for a better controller take too long I'll have to delay them (again) to v0.7.0. I'm not going to let v0.7.0 ship without some improvement with character c...

The next version allows you to set the orientation matrix directly, though internally it will simply convert it to a quaternion since the matrix is just an auxiliary variable. You can do something similar in v0.6.0 by creating your matrix (using the rotation matrix already readable from the entity) ...

Alrighty, I've managed to get a working setup in the currently in-development version... Unfortunately, there is a problem with the CompoundBody.removeBody method in regards to simulation islands which can cause a crash when you re-add the 'broken' piece back into the space. This and a few other iss...