BEPUphysics

In v2, collision detection is as close to the shape definition as numerically feasible. Some 'rounding' will be done in the sense that single precision floating point numbers have finite precision, but if you're working at scales of about 1 unit, the resulting errors would be significantly less than...

Using the same pool for simulation and shapes in the simulation is fine, and probably best. Tracking which pool to use for disposing shapes could get annoying otherwise, and maximizing the use of one pool improves memory efficiency. (Pools preallocate blocks of memory, so if you have a bunch of pool...

The github repo contains a demos application with dozens of examples and documentation. For example: https://github.com/bepu/bepuphysics2/blob/master/Documentation/GettingStarted.md There isn't any documentation or tutorial targeting users new to game development, physics engines, or the involved ma...

That's a pretty broad question, but at a high level, it's a rigid body physics engine, and it's very speedy. It's also important to note that it is not beginner friendly- the API is very low level and aimed at advanced users who want zero overhead access. If you don't have experience with that sort ...

You can zero out a row of the body's inverse inertia tensor to lock rotation around a body's local axes. There is no equivalent body-intrinsic position lock; you can do similar things with constraints like the LinearAxisServo or, more approximately, just by setting the appropriate component of the p...

Is convex hull can only make the smallest polygon that covers points. Yes, convex hulls are convex: https://en.wikipedia.org/wiki/Convex_polytope Any points not contributing to the outer surface are removed. If you want concave shapes, you'll need to create it out of multiple convex shapes in a Com...

1.) Upgrade BEPU V1.5.1 to V2.1: What is your estimation about the performance improvements of the convex hull collision detections for our application? Do you have a gut feeling of the speedup? Hull-hull testing is one of the areas of smaller improvement from v1 to v2, but on an AVX2 capable machi...

You can disable teleportation based stepping entirely in v1 by commenting the if here: https://github.com/bepu/bepuphysics1/blob/master/BEPUphysics/Character/CharacterController.cs#L611 Also, if you want to avoid having to modify the CC code, you can keep using the Cylinder shape and just increase i...

Just a bit of a follow-up question: is there anything wrong with storing an instance of a SubgroupCollisionFilter and reusing that for multiple physics bodies? Would you recommend that or not? If I don't reuse filters, couldn't I theoretically have two bodies that belong to the same group and subgr...

Yup!

It doesn't actually order by mobility- results are reported as they are encountered during the ray traversal. The reason it appears to order by mobility is that the 'active' tree is tested first, followed by the 'static/sleeping' tree. The RayCast does not, by itself, do any filtering or ordering. I...

2. well, simpel but, if there are objects on there, there will fall, if the mesh is removed right? I don't know how fast the mesh is recreated, but maybe this could be result in strange behaviours. The new mesh should be added before the simulation continues to run. From the perspective of the simu...

Some options, not mutually exclusive: 1) Use multiple colliders. For areas where you might want to put a hole, use a separate collider that you can simply remove. 2) Use a triangle mesh. When you want to change it, just create a new triangle mesh, remove the old one, add the new one. 3) Use a triang...

But another question it walk able even no ground

Sorry, not sure what the context is here.