├── .github ├── FUNDING.yml ├── release.yml └── workflows │ ├── bepu-docs-github.yml │ ├── dotnet-core-publish.yml │ └── dotnet-core.yml ├── .gitignore ├── BepuPhysics ├── BatchCompressor.cs ├── BepuPhysics.csproj ├── Bodies.cs ├── Bodies_GatherScatter.cs ├── BodyDescription.cs ├── BodyProperties.cs ├── BodyReference.cs ├── BodySet.cs ├── BoundingBoxHelpers.cs ├── CollidableProperty.cs ├── Collidables │ ├── BigCompound.cs │ ├── BoundingBoxBatcher.cs │ ├── Box.cs │ ├── Capsule.cs │ ├── Collidable.cs │ ├── CollidableDescription.cs │ ├── CollidableReference.cs │ ├── Compound.cs │ ├── CompoundBuilder.cs │ ├── ConvexHull.cs │ ├── ConvexHullHelper.cs │ ├── Cylinder.cs │ ├── IDisposableShape.cs │ ├── IShape.cs │ ├── Mesh.cs │ ├── MeshInertiaHelper.cs │ ├── Shapes.cs │ ├── Sphere.cs │ ├── Triangle.cs │ └── TypedIndex.cs ├── CollisionDetection │ ├── BroadPhase.cs │ ├── BroadPhase_Queries.cs │ ├── CollidableOverlapFinder.cs │ ├── CollisionBatcher.cs │ ├── CollisionBatcherContinuations.cs │ ├── CollisionTaskRegistry.cs │ ├── CollisionTasks │ │ ├── BoxConvexHullTester.cs │ │ ├── BoxCylinderTester.cs │ │ ├── BoxPairTester.cs │ │ ├── BoxTriangleTester.cs │ │ ├── CapsuleBoxTester.cs │ │ ├── CapsuleConvexHullTester.cs │ │ ├── CapsuleCylinderTester.cs │ │ ├── CapsulePairTester.cs │ │ ├── CapsuleTriangleTester.cs │ │ ├── CompoundMeshContinuations.cs │ │ ├── CompoundPairCollisionTask.cs │ │ ├── CompoundPairContinuations.cs │ │ ├── CompoundPairOverlapFinder.cs │ │ ├── CompoundPairOverlaps.cs │ │ ├── ConvexCollisionTask.cs │ │ ├── ConvexCompoundCollisionTask.cs │ │ ├── ConvexCompoundContinuations.cs │ │ ├── ConvexCompoundOverlapFinder.cs │ │ ├── ConvexCompoundTaskOverlaps.cs │ │ ├── ConvexHullPairTester.cs │ │ ├── ConvexHullTestHelper.cs │ │ ├── ConvexMeshContinuations.cs │ │ ├── CylinderConvexHullTester.cs │ │ ├── CylinderPairTester.cs │ │ ├── ManifoldCandidateHelper.cs │ │ ├── MeshPairContinuations.cs │ │ ├── MeshPairOverlapFinder.cs │ │ ├── PairTypes.cs │ │ ├── SphereBoxTester.cs │ │ ├── SphereCapsuleTester.cs │ │ ├── SphereConvexHullTester.cs │ │ ├── SphereCylinderTester.cs │ │ ├── SpherePairTester.cs │ │ ├── SphereTriangleTester.cs │ │ ├── TriangleConvexHullTester.cs │ │ ├── TriangleCylinderTester.cs │ │ └── TrianglePairTester.cs │ ├── CompoundMeshReduction.cs │ ├── ConstraintRemover.cs │ ├── ContactConstraintAccessor.cs │ ├── ContactManifold.cs │ ├── ContinuationIndex.cs │ ├── ConvexContactManifoldWide.cs │ ├── DepthRefiner.cs │ ├── DepthRefiner.tt │ ├── FreshnessChecker.cs │ ├── INarrowPhaseCallbacks.cs │ ├── ISupportFinder.cs │ ├── InactiveSetBuilder.cs │ ├── MeshReduction.cs │ ├── NarrowPhase.cs │ ├── NarrowPhaseCCDContinuations.cs │ ├── NarrowPhaseConstraintUpdate.cs │ ├── NarrowPhasePendingConstraintAdds.cs │ ├── NarrowPhasePreflush.cs │ ├── NonconvexReduction.cs │ ├── PairCache.cs │ ├── PairCache_Activity.cs │ ├── RayBatchers.cs │ ├── SweepTaskRegistry.cs │ ├── SweepTasks │ │ ├── CapsuleBoxDistanceTester.cs │ │ ├── CapsuleCylinderDistanceTester.cs │ │ ├── CapsulePairDistanceTester.cs │ │ ├── CompoundHomogeneousCompoundSweepTask.cs │ │ ├── CompoundPairSweepOverlapFinder.cs │ │ ├── CompoundPairSweepOverlaps.cs │ │ ├── CompoundPairSweepTask.cs │ │ ├── ConvexCompoundSweepOverlapFinder.cs │ │ ├── ConvexCompoundSweepTask.cs │ │ ├── ConvexHomogeneousCompoundSweepTask.cs │ │ ├── ConvexSweepTaskCommon.cs │ │ ├── GJKDistanceTester.cs │ │ ├── SphereBoxDistanceTester.cs │ │ ├── SphereCapsuleDistanceTester.cs │ │ ├── SphereCylinderDistanceTester.cs │ │ ├── SpherePairDistanceTester.cs │ │ └── SphereTriangleDistanceTester.cs │ ├── UntypedList.cs │ ├── WideRayTester.cs │ └── WorkerPairCache.cs ├── ConstraintBatch.cs ├── ConstraintLocation.cs ├── ConstraintReference.cs ├── ConstraintSet.cs ├── Constraints │ ├── AngularAxisGearMotor.cs │ ├── AngularAxisMotor.cs │ ├── AngularHinge.cs │ ├── AngularMotor.cs │ ├── AngularServo.cs │ ├── AngularSwivelHinge.cs │ ├── AreaConstraint.cs │ ├── BallSocket.cs │ ├── BallSocketMotor.cs │ ├── BallSocketServo.cs │ ├── BallSocketShared.cs │ ├── CenterDistanceConstraint.cs │ ├── CenterDistanceLimit.cs │ ├── ConstraintChecker.cs │ ├── Contact │ │ ├── ContactConvexCommon.cs │ │ ├── ContactConvexTypes.cs │ │ ├── ContactConvexTypes.tt │ │ ├── ContactNonconvexCommon.cs │ │ ├── ContactNonconvexTypes.cs │ │ ├── ContactNonconvexTypes.tt │ │ ├── IContactConstraintDescription.cs │ │ ├── ISolverContactDataExtractor.cs │ │ ├── PenetrationLimit.cs │ │ ├── PenetrationLimitOneBody.cs │ │ ├── TangentFriction.cs │ │ ├── TangentFrictionOneBody.cs │ │ ├── TwistFriction.cs │ │ └── TwistFrictionOneBody.cs │ ├── DistanceLimit.cs │ ├── DistanceServo.cs │ ├── FourBodyTypeProcessor.cs │ ├── Hinge.cs │ ├── IBatchIntegrationMode.cs │ ├── IBodyAccessFilter.cs │ ├── IConstraintDescription.cs │ ├── InequalityHelpers.cs │ ├── LinearAxisLimit.cs │ ├── LinearAxisMotor.cs │ ├── LinearAxisServo.cs │ ├── MotorSettings.cs │ ├── OneBodyAngularMotor.cs │ ├── OneBodyAngularServo.cs │ ├── OneBodyLinearMotor.cs │ ├── OneBodyLinearServo.cs │ ├── OneBodyTypeProcessor.cs │ ├── PointOnLineServo.cs │ ├── ServoSettings.cs │ ├── SpringSettings.cs │ ├── SwingLimit.cs │ ├── SwivelHinge.cs │ ├── ThreeBodyTypeProcessor.cs │ ├── TwistLimit.cs │ ├── TwistMotor.cs │ ├── TwistServo.cs │ ├── TwoBodyTypeProcessor.cs │ ├── TypeBatch.cs │ ├── TypeProcessor.cs │ ├── VolumeConstraint.cs │ └── Weld.cs ├── DefaultTimestepper.cs ├── DefaultTypes.cs ├── Handles.cs ├── HandyEnumerators.cs ├── Helpers.cs ├── ITimestepper.cs ├── InvasiveHashDiagnostics.cs ├── IslandAwakener.cs ├── IslandScaffold.cs ├── IslandSleeper.cs ├── LocalSpinWait.cs ├── PoseIntegrator.cs ├── SequentialFallbackBatch.cs ├── Simulation.cs ├── SimulationAllocationSizes.cs ├── SimulationProfiler.cs ├── Simulation_Queries.cs ├── SolveDescription.cs ├── Solver.cs ├── Solver_Solve.cs ├── StaticDescription.cs ├── StaticReference.cs ├── Statics.cs ├── Trees │ ├── Leaf.cs │ ├── Node.cs │ ├── RayBatcher.cs │ ├── Tree.cs │ ├── Tree_Add.cs │ ├── Tree_BinnedBuilder.cs │ ├── Tree_BinnedRefine.cs │ ├── Tree_CacheOptimizer.cs │ ├── Tree_Diagnostics.cs │ ├── Tree_IntertreeQueries.cs │ ├── Tree_IntertreeQueriesMT.cs │ ├── Tree_MultithreadedRefitRefine.cs │ ├── Tree_RayCast.cs │ ├── Tree_Refine2.cs │ ├── Tree_RefineCommon.cs │ ├── Tree_RefinementScheduling.cs │ ├── Tree_Refit.cs │ ├── Tree_Refit2.cs │ ├── Tree_Remove.cs │ ├── Tree_SelfQueries.cs │ ├── Tree_SelfQueriesMT.cs │ ├── Tree_Sweep.cs │ ├── Tree_SweepBuilder.cs │ └── Tree_VolumeQuery.cs └── key.snk ├── BepuUtilities ├── AffineTransform.cs ├── BepuUtilities.csproj ├── BoundingBox.cs ├── BoundingSphere.cs ├── BundleIndexing.cs ├── Collections │ ├── ArrayEnumerator.cs │ ├── IComparerRef.cs │ ├── IEqualityComparerRef.cs │ ├── IPredicate.cs │ ├── IndexSet.cs │ ├── InsertionSort.cs │ ├── LSBRadixSort.cs │ ├── MSBRadixSort.cs │ ├── PrimitiveComparer.cs │ ├── QuickDictionary.cs │ ├── QuickList.cs │ ├── QuickQueue.cs │ ├── QuickSet.cs │ ├── Quicksort.cs │ ├── ReferenceComparer.cs │ ├── VectorizedSorts.cs │ ├── WrapperEqualityComparer.cs │ └── WrapperPredicate.cs ├── ContainmentType.cs ├── GatherScatter.cs ├── IForEachRef.cs ├── IThreadDispatcher.cs ├── Int2.cs ├── Int3.cs ├── Int4.cs ├── MathChecker.cs ├── MathHelper.cs ├── Matrix.cs ├── Matrix2x2Wide.cs ├── Matrix2x3Wide.cs ├── Matrix3x3.cs ├── Matrix3x3Wide.cs ├── Memory │ ├── Allocator.cs │ ├── Buffer.cs │ ├── BufferPool.cs │ ├── IUnmanagedMemoryPool.cs │ ├── IdPool.cs │ ├── ManagedIdPool.cs │ ├── Pool.cs │ ├── SpanHelper.cs │ └── WorkerBufferPools.cs ├── QuaternionEx.cs ├── QuaternionWide.cs ├── Symmetric2x2Wide.cs ├── Symmetric3x3.cs ├── Symmetric3x3Wide.cs ├── Symmetric4x4Wide.cs ├── Symmetric5x5Wide.cs ├── Symmetric6x6Wide.cs ├── TaskScheduling │ ├── ContinuationBlock.cs │ ├── ContinuationHandle.cs │ ├── IJobFilter.cs │ ├── Job.cs │ ├── PopTaskResult.cs │ ├── Task.cs │ ├── TaskContinuation.cs │ ├── TaskStack.cs │ └── Worker.cs ├── ThreadDispatcher.cs ├── Vector2Wide.cs ├── Vector3Wide.cs ├── Vector4Wide.cs └── key.snk ├── BepuUtilitiesTests ├── AffineTests.cs ├── AllocatorTests.cs ├── BepuUtilitiesTests.csproj ├── BepuUtilitiesTests.sln ├── BoundingTests.cs ├── CodeGenTests.cs ├── Helper.cs ├── Matrix3x3Tests.cs ├── Matrix4x4Tests.cs ├── Program.cs ├── QuickCollectionTests.cs ├── SymmetricTests.cs └── Vector3Tests.cs ├── CONTRIBUTING.md ├── CommonSettings.props ├── DemoBenchmarks ├── BenchmarkHelper.cs ├── CollisionBatcherTaskBenchmarks.cs ├── ConvexCollisionTesterBenchmarks.cs ├── DemoBenchmarks.csproj ├── FourBodyConstraintBenchmarks.cs ├── GatherScatterBenchmarks.cs ├── GroupedCollisionTesterBenchmarks.cs ├── OneBodyConstraintBenchmarks.cs ├── OneBodyConstraintBenchmarksDeep.cs ├── Program.cs ├── README.md ├── RagdollTubeBenchmark.cs ├── ShapePileBenchmark.cs ├── ShapeRayBenchmarks.cs ├── ShapeRayBenchmarksDeep.cs ├── SweepBenchmarks.cs ├── SweepBenchmarksDeep.cs ├── ThreeBodyConstraintBenchmarks.cs ├── TwoBodyConstraintBenchmarks.cs └── TwoBodyConstraintBenchmarksDeep.cs ├── DemoContentBuilder ├── ContentBuildCacheIO.cs ├── ContentBuilder.cs ├── DemoContentBuilder.csproj ├── FTL.TXT ├── FontBuilder.cs ├── FontPacker.cs ├── GLSLBuilder.cs ├── IncludeHandler.cs ├── MeshBuilder.cs ├── MetadataParsing.cs ├── ProjectBuilder.cs ├── ShaderCompilationCache.cs ├── ShaderCompiler.cs ├── ShaderFileCache.cs ├── Texture2DBuilder.cs └── freetype6.dll ├── DemoContentLoader ├── ContentArchive.cs ├── DemoContentLoader.csproj ├── FontContent.cs ├── FontIO.cs ├── GLSLContent.cs ├── GLSLIO.cs ├── MeshContent.cs ├── MeshIO.cs ├── ShaderCache.cs ├── SourceShader.cs ├── Texture2DContent.cs └── Texture2DIO.cs ├── DemoRenderer.GL ├── Background │ ├── BackgroundRenderer.cs │ ├── RenderBackground.glfs │ └── RenderBackground.glvs ├── Camera.cs ├── ConstantsBuffer.cs ├── Constraints │ ├── LineRenderer.cs │ ├── RenderLines.glfs │ └── RenderLines.glvs ├── DemoRenderer.content ├── DemoRenderer.csproj ├── Disposable.cs ├── Helpers.cs ├── IndexBuffer.cs ├── PostProcessing │ ├── CompressToSwap.cs │ ├── CompressToSwap.glfs │ └── CompressToSwap.glvs ├── RenderSurface.cs ├── Renderer.cs ├── Shader.cs ├── ShapeDrawing │ ├── BoxRenderer.cs │ ├── MeshCache.cs │ ├── MeshRenderer.cs │ ├── RasterizedRenderer.cs │ ├── RayTracedRenderer.cs │ ├── RenderBoxes.glfs │ ├── RenderBoxes.glvs │ ├── RenderCapsules.glfs │ ├── RenderCapsules.glvs │ ├── RenderCylinders.glfs │ ├── RenderCylinders.glvs │ ├── RenderMeshes.glfs │ ├── RenderMeshes.glvs │ ├── RenderSpheres.glfs │ ├── RenderSpheres.glvs │ ├── RenderTriangles.glfs │ ├── RenderTriangles.glvs │ ├── ShapesExtractor.cs │ └── TriangleRenderer.cs ├── StructuredBuffer.cs ├── UI │ ├── Font.cs │ ├── GlyphRenderer.cs │ ├── ImageBatcher.cs │ ├── ImageRenderer.cs │ ├── RenderGlyphs.glfs │ ├── RenderGlyphs.glvs │ ├── RenderImages.glfs │ ├── RenderImages.glvs │ ├── RenderUILines.glfs │ ├── RenderUILines.glvs │ ├── RenderableImage.cs │ ├── TextBatcher.cs │ ├── UILineBatcher.cs │ └── UILineRenderer.cs └── hlsl2glsl ├── DemoRenderer ├── Background │ ├── BackgroundRenderer.cs │ └── RenderBackground.hlsl ├── Camera.cs ├── ColorUnpacking.hlsl ├── Common.hlsl ├── ConstantsBuffer.cs ├── Constraints │ ├── AngularSwivelHingeLineExtractor.cs │ ├── BallSocketLineExtractor.cs │ ├── BallSocketMotorLineExtractor.cs │ ├── BallSocketServoLineExtractor.cs │ ├── BoundingBoxLineExtractor.cs │ ├── CenterDistanceLimitLineExtractor.cs │ ├── CenterDistanceLineExtractor.cs │ ├── ConstraintLineExtractor.cs │ ├── ContactLineExtractor.cs │ ├── ContactLineExtractors.cs │ ├── ContactLineExtractors.tt │ ├── DistanceLimitLineExtractor.cs │ ├── DistanceServoLineExtractor.cs │ ├── HingeLineExtractor.cs │ ├── LineExtractor.cs │ ├── LineRenderer.cs │ ├── LinearAxisServoLineExtractor.cs │ ├── OneBodyLinearServoLineExtractor.cs │ ├── PointOnLineLineExtractor.cs │ ├── RenderLines.hlsl │ ├── SwivelHingeLineExtractor.cs │ └── WeldLineExtractor.cs ├── DemoRenderer.content ├── DemoRenderer.csproj ├── Helpers.cs ├── IndexBuffer.cs ├── ParallelLooper.cs ├── PostProcessing │ ├── CompressToSwap.cs │ └── CompressToSwap.hlsl ├── RenderSurface.cs ├── Renderer.cs ├── ShapeDrawing │ ├── BoxRenderer.cs │ ├── MeshCache.cs │ ├── MeshRenderer.cs │ ├── RasterizedCommon.hlsl │ ├── RasterizedRenderer.cs │ ├── RayTracedInstances.cs │ ├── RayTracedRenderer.cs │ ├── RenderBoxes.hlsl │ ├── RenderCapsules.hlsl │ ├── RenderCylinders.hlsl │ ├── RenderMeshes.hlsl │ ├── RenderSpheres.hlsl │ ├── RenderTriangles.hlsl │ ├── ShapesExtractor.cs │ └── TriangleRenderer.cs ├── StructuredBuffer.cs ├── UI │ ├── Font.cs │ ├── GlyphBatch.cs │ ├── GlyphRenderer.cs │ ├── ImageBatcher.cs │ ├── ImageRenderer.cs │ ├── RenderGlyphs.hlsl │ ├── RenderImages.hlsl │ ├── RenderUILines.hlsl │ ├── RenderableImage.cs │ ├── TextBatcher.cs │ ├── UILineBatcher.cs │ └── UILineRenderer.cs └── WholeScreenTriangle.hlsl ├── DemoTests ├── ConstraintDescriptionMappingTests.cs ├── DemoTests.csproj ├── Fountain.cs ├── InertiaTensorTests.cs ├── PairDeterminismTests.cs └── TestUtilities.cs ├── DemoUtilities ├── DemoUtilities.csproj ├── Input.cs ├── SpanConverter.cs ├── TextBuilder.cs └── Window.cs ├── Demos.GL.sln ├── Demos.GL └── Demos.csproj ├── Demos.sln ├── Demos ├── Content │ ├── Carlito OFL.md │ ├── Carlito-Regular.ttf │ ├── Courier Prime Sans OFL.md │ ├── Courier Prime Sans.ttf │ ├── Sponsors │ │ ├── angerybite.png │ │ ├── beaverboss.png │ │ ├── bedtimeforopossum.png │ │ ├── behattedpenguin.png │ │ ├── borb.png │ │ ├── bork.png │ │ ├── contentsluginthevoid.png │ │ ├── disturbingkoala.png │ │ ├── goose.png │ │ ├── handicat.png │ │ ├── healthyostrich.png │ │ ├── ifiwereatardigrade.png │ │ ├── ladybugwouldpreferlandvaluetax.png │ │ ├── marmottourism.png │ │ ├── mcmonkey.png │ │ ├── normalgiraffe.png │ │ ├── physquirrel.png │ │ ├── pleasedfrog.png │ │ ├── raisondetre.png │ │ ├── scootybun.png │ │ ├── smugturt.png │ │ ├── spide.png │ │ ├── spooky.png │ │ ├── squidhanginout.png │ │ ├── tarbeenus.png │ │ ├── tootbush.png │ │ └── waryoctopus.png │ ├── box.obj │ └── newt.obj ├── Controls.cs ├── Demo.cs ├── DemoCallbacks.cs ├── DemoHarness.cs ├── DemoMeshHelper.cs ├── DemoSet.cs ├── Demos.content ├── Demos.csproj ├── Demos │ ├── BlockChainDemo.cs │ ├── BouncinessDemo.cs │ ├── Cars │ │ ├── CarCallbacks.cs │ │ ├── CarDemo.cs │ │ ├── RaceTrack.cs │ │ ├── SimpleCar.cs │ │ ├── SimpleCarController.cs │ │ └── WheelHandles.cs │ ├── ChainFountainDemo.cs │ ├── Characters │ │ ├── CharacterControllers.cs │ │ ├── CharacterDemo.cs │ │ ├── CharacterInput.cs │ │ ├── CharacterMotionConstraint.cs │ │ ├── CharacterMotionConstraint.tt │ │ └── CharacterNarrowphaseCallbacks.cs │ ├── ClothDemo.cs │ ├── CollisionQueryDemo.cs │ ├── CollisionTrackingDemo.cs │ ├── ColosseumDemo.cs │ ├── CompoundDemo.cs │ ├── ContactEventsDemo.cs │ ├── ContinuousCollisionDetectionDemo.cs │ ├── CustomVoxelCollidableDemo.cs │ ├── Dancers │ │ ├── DancerDemo.cs │ │ ├── DemoDancers.cs │ │ └── PlumpDancerDemo.cs │ ├── FrictionDemo.cs │ ├── NewtDemo.cs │ ├── PerBodyGravityDemo.cs │ ├── PlanetDemo.cs │ ├── PyramidDemo.cs │ ├── RagdollDemo.cs │ ├── RagdollTubeDemo.cs │ ├── RayCastingDemo.cs │ ├── RopeStabilityDemo.cs │ ├── RopeTwistDemo.cs │ ├── SimpleSelfContainedDemo.cs │ ├── SolverContactEnumerationDemo.cs │ ├── Sponsors │ │ ├── SponsorCharacterAI.cs │ │ ├── SponsorDemo.cs │ │ └── SponsorNewt.cs │ ├── SubsteppingDemo.cs │ ├── SweepDemo.cs │ └── Tanks │ │ ├── AITank.cs │ │ ├── Tank.cs │ │ ├── TankCallbacks.cs │ │ ├── TankController.cs │ │ ├── TankDemo.cs │ │ ├── TankDescription.cs │ │ └── TankPartDescription.cs ├── GameLoop.cs ├── Grabber.cs ├── Program.cs ├── Properties │ └── launchSettings.json ├── RolloverInfo.cs ├── SimulationTimeSamples.cs ├── SpecializedTests │ ├── BatchedCollisionTests.cs │ ├── BroadPhaseStressTestDemo.cs │ ├── CacheBlaster.cs │ ├── CapsuleTestDemo.cs │ ├── CharacterTestDemo.cs │ ├── ClothLatticeDemo.cs │ ├── CompoundBoundTests.cs │ ├── CompoundCollisionIndicesTest.cs │ ├── ConstrainedKinematicIntegrationTest.cs │ ├── ConstraintTestDemo.cs │ ├── ConvexHullTestDemo.cs │ ├── CylinderTestDemo.cs │ ├── DepthRefinerTestDemo.cs │ ├── DeterminismTest.cs │ ├── FountainStressTestDemo.cs │ ├── GyroscopeTestDemo.cs │ ├── HeadlessDemo.cs │ ├── Inequality1DOF.cs │ ├── IntertreeThreadingTests.cs │ ├── ManifoldReductionScaleTestDemo.cs │ ├── Media │ │ ├── 2.0 │ │ │ ├── BedsheetDemo.cs │ │ │ ├── ColosseumVideoDemo.cs │ │ │ ├── NewtDemandingSacrificeVideoDemo.cs │ │ │ ├── NewtVideoDemo.cs │ │ │ ├── PyramidVideoDemo.cs │ │ │ └── ShrinkwrappedNewtsVideoDemo.cs │ │ └── 2.4 │ │ │ ├── Colosseum24VideoDemo.cs │ │ │ ├── ExcessivePyramidVideoDemo.cs │ │ │ ├── NewtTyrannyDemo.cs │ │ │ ├── RagdollTubeVideoDemo.cs │ │ │ ├── RopeTwistVideoDemo.cs │ │ │ ├── TankSwarmDemo.cs │ │ │ ├── VideoDancerDemo.cs │ │ │ └── VideoPlumpDancerDemo.cs │ ├── MeshMeshTestDemo.cs │ ├── MeshReductionTestDemo.cs │ ├── MeshSerializationTestDemo.cs │ ├── MeshTestDemo.cs │ ├── MinkowskiVisualizer.cs │ ├── NewtonsCradleDemo.cs │ ├── PyramidAwakenerTestDemo.cs │ ├── RayTesting.cs │ ├── ScalarIntegrationTestDemo.cs │ ├── ShapePileTestDemo.cs │ ├── SimulationScrambling.cs │ ├── SolverBatchTestDemo.cs │ ├── SortTest.cs │ ├── TaskQueueTestDemo.cs │ ├── TestHelpers.cs │ ├── TreeFiddlingTestDemo.cs │ ├── TreeTest.cs │ ├── TriangleRayTestDemo.cs │ ├── TriangleTestDemo.cs │ └── VolumeQueryTests.cs ├── TimingsRingBuffer.cs └── UI │ ├── DemoSwapper.cs │ └── Graph.cs ├── Documentation ├── Building.md ├── ContinuousCollisionDetection.md ├── GettingStarted.md ├── PackagingAndVersioning.md ├── PerformanceTips.md ├── QuestionsAndAnswers.md ├── StabilityTips.md ├── Substepping.md ├── UpgradingFromV1.md ├── changelog.md ├── docfx.json ├── docs │ └── toc.yml ├── favicon.ico ├── fix-links.ps1 ├── images │ ├── ContinuousCollisionDetection │ │ ├── ccd.png │ │ ├── ghostCollision.png │ │ ├── smallMarginNoCollision.png │ │ ├── smallMarginNoGhostCollision.png │ │ ├── smallMarginSweepCollision.png │ │ └── speculativeContact.png │ ├── bepuphysicslogo256.png │ ├── 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