BEPUphysics

I'm not sure I understand the setup entirely or the problem encountered, a video/picture would certainly help. Springs can be used though they won't be as rigid. RotationalAxisConstraint could be used to some degree, but its single-body nature won't let it be a complete substitute for proper two-bod...

The defaultAllowedPenetration and defaultMargin settings of the simulationSettings are the values of margin and allowedPenetration that entities are given when they are added to the space if no other margin has been defined for them. The defaults are basically just a convenience method to assign mar...

I would probably use the Wheel.hasSupport/Vehicle.hasWheelSupport/Vehicle.supportedWheelCount to determine if the vehicle is on the ground if that's what your goal is. After deciding it is grounded (and whatever other conditions you'd like, such as velocity), you can apply the 'bad steering' impulse.

The primary reason you want to avoid giant masses (or more accurately, giant differences in masses between your simulation's entities) is that if your big heavy thing needs to be pushed back against by a light thing, it probably won't be able to. Imagine if the tank ran over a light box. The box wou...

If you're using the vehicle class, either modifying the suspensionLength or changing the wheel shape entity's dimensions should work. The wheel shape entity itself isn't handled by the space, but instead just used to collide. Changing the fields alone should work in most cases. Note that a box has 6...

Another thing to note is that the entity.orientationQuaternion field is double buffered. This means that its value will only be set when the entity is next updated. Subbodies are not updated like other entities, so the write buffer never gets used. Try using the entity.internalOrientationQuaternion;...

I'd recommend the last option. For these sorts of very fine tuned behaviors, its usually best to implement them explicitly so you have more control over it. An arbitrary extra friction force, perhaps based on the velocity of the car and if the car is on the ground or not (wouldn't want the force spi...

If you want the tank to reach a specified velocity or momentum instantly, you can also use the entity.linearVelocity, entity.angularVelocity, entity.linearMomentum, entity.angularMomentum. And as I think I mentioned before, a Vehicle with lots of wheels for treads could also be used to more directly...

The ray-terrain issue should only occur when the ray origin and ray direction * maximumLength location are both outside of the bounding box of the terrain. If your terrain isn't a large flat plane and you're shooting the rays from a character near the ground, this problem probably won't show up too ...

My concern was that a different (smaller) velocity was being used to raycast compared to the velocity used to actually advance the position of the bullet. This wouldn't have anything to do with the 'up close' issue, though. A toi of 0 should only occur when the origin of the ray is within the object...

What does tracers .direction represent exactly? Judging on how it is used I'd assume it's a velocity previously calculated. Two possibilities come to mind; one is a low velocity used relative to the motion applied, the other is a known bug in v0.7.0's raycast against terrains and static triangle gro...

Did you get my e-mail? I'm not sure if it went through, but here's a way to do it: Currently, color is randomly set in the EntityDrawer.addEntity and EntityDrawer.addDisplayObject methods within the demos display system. There are cases that cover shader instancing and non-shader instancing modes wi...

Regarding the character, did you happen to try all the settings that the demos use to set it up in the CharacterControllerInput class? Specifically: characterController = new CharacterController(Vector3.Zero, 3, .5f, 5, .2f, 1.1f, 50, 70, 6, (float)Math.PI / 4, 5, 3, 2, 5, .1f, (float)Math.PI / 6, (...

maximumGlueSpeed will 'glue' the character to the ground if the ground is separating from the character with a speed less than maximumGlueSpeed. This helps the character stand on things that are moving up and down without constantly falling and jittering. supportEntityForceApplicationFactor is the a...

You can use entity.activate(); to wake objects up. Alternatively, you can set the entity's isAlwaysActive flag to true so you don't need to worry about it later (characters don't really need to sleep). The entity.move and entity.moveTo will indeed cause collision issues since they act like teleports...