Simulation-wide queries about bepuphysics2 HOT 1 CLOSED

As of the current version, the simulation supports ray casts and linear/angular shape sweeps. The broad phase itself supports ray casts, AABB queries, and swept AABB queries.

I ended up only creating a batched version for ray casts. While batched rays are 20-70% faster, unbatched ray tests are also available for ease of use and in cases where there aren't enough rays to usefully batch.

Leaf sweep tests tend to be significantly more expensive than ray tests and are internally vectorized, so batching the traversal phase together is quite a bit less meaningful than in rays.

There's not yet any directly exposed one-off contact test support, but it could be implemented on top of the broad phase volume query and the collision batcher. I won't be adding it in the near future unless there are a lot of requests, so I consider this issue as a whole addressed.

from bepuphysics2.