Simon Rönnberg

Hmm, yeah, it affects it for some reason. I don't rightly understand why at this point.

I've attempted to understand this and so far I'm failing to understand

I believe I understand why this is failing now. The core issue is that the simplex isn't cleared when advancing the hit spot along the ray.

I would say that terrain being represented with a mesh for collision purposes is rare, it would usually be a heightmap coupled with other shapes for overhangs etc. But as...

use `GJK2` and `GJK3`?

I was considering just having some kind of resource which holds all constraints. Possibly sorted by island.

The idea is to separate collision detection and integration so end users can mix and match any way they want.

I want to separate the solver for the current frame (that do contact resolution and update the actual position/orientation of the bodies), and for the next frame (which is basically...

And the spatial sorting etc should be optional, the basic collision system can be used for simpler games that don't need rays etc.

Check the rb PR if you haven't, some things are already in there