Ross Nordby

Removing this from 2.4 milestone. 1. Non-substepping solver got a lot more benefit from the solver changes than expected, so it's still an extremely competitive codepath on most simulations. 2....

The extra work of implementing static friction here is not simply adjusting the coefficient when velocity is low, but rather conditionally including a position goal in the friction constraint to...

The fudge factor you're referring to sounds like 'allowed penetration', which is common in contact solving when speculative contacts are not used. It's a separate problem, though. Even with speculative...

> BTW i think i also have to crush items when mass ratios is too high This is unrelated to friction; feel free to open another discussion (or issue, depending...

As of 504fdd37df541caf65bfd2bf748e92d49149d234, some sources of numerical error were mitigated. The drift associated with a stack of boxes on a static is now negligible for any remotely game-like use case....

cad353fb4996d27adf7b90b7c7c4e1cbf63eaf6b adds a partial solution to this. It'll work for now, but it's not strictly correct. A couple of closer-to-actually-correct options: 1. Add a persistent continuation for compound batches that...

Related: the per-pair local space bounding box expansion is iffy. The compound-compound sweeps were outright broken until recently. It's likely that it could be tightened by using arc bound expansion...

Thanks! It's going to take me a while to poke through things (possibly post-2.4), but it does look like there are some things in here that would be worth pulling...

>I've made PR's for the three smaller things though! Thanks, merged! For fast bounds, it's up to you- my understanding of most *current* use cases is that conditionally compiled fast...

No plans for an 'official' double sided implementation at the moment. It was dropped for simplicity, because users would often default to it and get surprised by odd behavior (ragdolls...