BEPUphysics

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...

* There's no prerelease nuget packets; so I had to include the source projects... which is fine One of these days I'll get a pipeline set up :P * I decided to compile them as .net code 3.1 (why keep it easy) and there were a ton of errors relating to uninitialized variables. Most of them seem relat...

it did not seem to appreciate being run concurrently (since the Pool is not thread safe, I presume). Yup. Notably, it is possible to preallocate everything so you don't have to pull from a BufferPool on any of the worker threads. It would involve bypassing the existing constructor though. ... I did...

perhaps it could be more stable/robust than a mesh as well? (Ie. being "solid" infinitely downwards, preventing objects dropping thru even without continuous detection). Yup- the v1 terrain had a 'thickness'; it's a pretty simple thing for heightmap terrains. With regard to reducing mesh ...

Yup- a pool should not have any outstanding allocations when it is being finalized, or else that memory will be permanently lost to the process. Call pool.Clear() to drop all allocations. BufferPool's explicitly implemented Dispose function just calls Clear. (Notably, if the process is shutting down...

The shape types (Box, Cylinder, etc.) all have fields corresponding to their dimensions. If you want to get a reference to a shape that you've already handed over to the simulation, you can grab it using Simulation.Shapes.GetShape<TShapeType>(shapeIndex). If you don't need to modify the shape, it ca...

1 Are there ways to assign center of mass of hull? Same as anything else- stick them in a Compound with an offset. If you want to know the center that the ConvexHull got recentered to, the ConvexHullHelper outputs it in the 'center' out parameter. 2 Or I want to make a point (0,0,0) center by compo...

That post is about getting the entity hit by a ray cast in v1, but it doesn't cover filtering considered bodies, which sounds like what you actually want. In v1, Space.RayCast takes a delegate that can be used to filter out unwanted candidates. In v2, the IRayHitHandler you pass to the Simulation.Ra...