orion-ecs / keen-eye / 30110399467

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push

github

Committed by tyevco

Commit Message

fix(physics): Correct sleep thresholds, gravity, interpolation, collision-end, shape/body counts (#1122-#1124,#1126-#1128,#1130)

Fixes a cluster of physics-correctness bugs in the BepuPhysics 2.4.0 backend:

- #1122: ActivityDescription.NeverSleep used float.MaxValue, which put the body
  permanently *under* threshold so it slept anyway. Bepu treats a negative sleep
  threshold as "never a sleep candidate", so NeverSleep now uses -1.
- #1123: PhysicsSyncSystem read the previously displayed (interpolated) transform
  as its interpolation input, corrupting the result on non-step frames. PhysicsWorld
  now records the last two raw simulation poses and the sync system interpolates
  between those instead of feeding its own output back in.
- #1124: CollisionEndedEvent fired spuriously when a resting body fell asleep and
  the narrow phase stopped reporting the pair. CollisionEventManager now consults a
  sleep predicate and persists resting contacts for sleeping bodies rather than
  emitting Ended.
- #1126: SetGravity only mutated the property (read once at init). It now also writes
  the new gravity into the live PoseIntegrator callbacks so it affects the running sim.
- #1127: RemoveBody removed the body/static and lookup but never the shape, leaking
  shape slots. It now removes the shape too (and clears interpolation state).
- #1128: InterpolationAlpha could exceed 1 when the loop hit MaxStepsPerFrame. The
  accumulator is now drained to at most one timestep at the cap and alpha is clamped
  to [0, 1].
- #1130: BodyCount returned only the active set, omitting sleeping bodies. It now
  sums all allocated body sets (active + sleeping islands).

Adds PhysicsCorrectnessTests with a fail-on-old/pass-on-new regression test per issue,
and updates ActivityDescription_NeverSleep_* to assert the corrected behavior.

Closes #1122
Closes #1123
Closes #1124
Closes #1126
Closes #1127
Closes #1128
Closes #1130

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