BEPUphysics

Sorry, the router burned out and it took a few days to get it replaced :D Starting with an unmodified VehicleInput, pretty much all of the vehicle's rolling tendencies were removed by only modifying the mass offset like so: vehicle.body.centerOfMassOffset = new Vector3(0, -1, 0); Keeping everything ...

This is another weakness of the current raycasting system that I'd like to address. The interfaces for space-wide raycasting require only that entities return a single hit since most entities are not compound. However, you can use the compound body's specialized rayTest method to determine more deta...

The rotation matrix you've computed won't change; you'll just need to translate the shape some amount. Find the vector from the contact point position to the initial center of the shape. Transform this vector by the rotation matrix you compute. The post-rotation position of the object should be the ...

Instead of comparing the axes to C, compare them against one of the axes of the wall's rotation. Note that one of these axes will line up with the surface normal while the other two will be on the plane perpendicular to the surface normal. One of these other two axes should be the axis compared agai...

Assuming I'm understanding the situation right (as shown in the picture below), here's a relatively simple way to approach it. First, get the rotation matrix from the incoming L. Go through each of the three axes (matrix.Up, matrix.Right, Matrix.Forward) and dot them against the contact point's norm...

If it isn't already, move your addEventHook statement after the compound body is added to the space. There's an inconsistency in how the add method deals with normal eventful entities and compound eventful entities that's fixed in the next version.

The collision-related events currently operate on the sub-bodies which are actually doing the colliding. If you listen to the compound body only, you'll miss the subbody reports. I think for the next version I'll send event notifications from the parents as well as the colliding children to make it ...

If it's a pretty large object, you might be seeing the angular velocity threshold which can be readjusted using space.simulationSettings.angularVelocityClamping and space.simulationSettings.angularVelocityClampingTime. Of course this assumes that the boost given by the character was larger than your...

A few information gathering questions to start: When it is moving, does it appear to move correctly and continuously as opposed to jerkily or with a strange constant motion before suddenly stopping? After you bumped it with a character, did you move away from the object to let it swing freely or did...

This is most likely due to the object's inactivity. Kinematic objects will fall asleep; a sleeping compound object will not propagate its own rotation to its children since no updates are occurring. If you call (CompoundBody).activate() when you perform a rotation or just set the body's isAlwaysActi...

Try using the internalOrientationQuaternion property instead of orientationQuaternion. As I mentioned in my previous post, the orientationQuaternion field is double buffered for thread safety. However, as the subobjects are never updated like a normal object (they are not in the space), these buffer...

Well, hopefully you won't see it again! That stalling time duration pretty much destroys my thread-based theories since any non-deadlock would be milliseconds and a deadlock would never end. The only other thing I can think of right now is some sort of geometry that the system didn't like. With the ...

How long were the stalls, and once you found the mesh issue, were you able to reproduce them reliably? Did you happen to try using the PersistentUniformGrid broadphase type instead of DynamicBinaryHierarchy (or vice versa)? Are there any other queries going on, specifically things like space.broadph...

That's pretty strange; I'm not sure what the mesh would have to do with it. When adding an entity though, a lock is acquired that keeps entities from being added/removed in the middle of a space update. If a physics frame lasts more than a few milliseconds and an entity add request occurs in the mid...

Broken constraints are removed from the space.