BEPUphysics

I have not fully understood how to set the new collision reponse rules but here what seems like a bug.


sphere_ = new Sphere (new Vector3 (400, 800, 400), 3.5f, 2);
sphere_.becomeKinematic ();
space_.add (sphere_);

// Then later I switch to dynamic, it falls through the terrain
sphere_.becomeDynamic (1);

By default, becomeDynamic/becomeKinematic do not change the collisionGroup of the entity. They have a secondary overload that lets you pass a collision group, or you can set it afterward. The reason the object falls through the terrain is because it still has the defaultKinematicCollisionGroup from when you added it to the space. The defaultKinematicCollisionGroup does not collide with itself.

The default groups can be found in space.simulationSettings.collisionDetection.