[Physics] Bepu integration

[Eideren]

PR Details

Adds support for Bepu Physics as an alternative physics engine, we'll keep the current one but will move our focus towards this new one instead.

Motivation

Unified ecosystem, improved performance, flexibility and debugging experience compared to Bullet's physics engine.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My change requires a change to the documentation.
• I have added tests to cover my changes.
• All new and existing tests passed.
• I have built and run the editor to try this change out.

WIP

• Navigation - @Doprez is taking care of that part
• Replace car asset
• Add license above all files
• Check that physics does not occur between input sampling and update ... ensures that update receives the most up to date inputs
• Deal with the last few outstanding warnings
• Split softbodies into a future PR
• Ask if Norbo is available to check some areas that could be improved
• Scaling / sharing issue with hulls
• Check if gizmos for hull are working properly
• Gizmos for box collider seem to ignore local pos ?
• Constraints detach from colliders after changing mass

Post release

• Query mesh material index from physics tests
• Ragdoll utilities
• Ignore contact between specific objects, contact response utilities
• Wider support of the different mesh formats (ExtractBepuMesh)

A huge thanks goes to @Nicogo1705 and @Doprez for working on this. As well as @RossNordby for Bepu and dealing with our nonsense.

N.B.: PR #2127 and #2120 were cherry-picked to support this PR.

COMMIT HISTORY HAS BEEN PRESERVED, DO NOT SQUASH OR REBASE - JUST MERGE

[Doprez]

Since these are dealing with System.Numerics and Stride.Math should this be added directly to the Stride math library? I feel like these would be useful in many places not only Bepu.

[Doprez]

Some of these seem to already exist in the 3d importer as well

stride/sources/tools/Stride.Importer.3D/Utils.cs

Line 13 in 0e053a3

public static class Utils

[Eideren]

Sure, feel free to open a PR for that :P

[Doprez]

I was trying to use your branch locally but I cant seem to resolve the nugets to the demo project, am I missing a step?

[Doprez]

I was trying to add configuration and the drop down seems to not show up.

I also cant build the project due to the previous error of not being able to find the 4.2.0.1 version from the compilerapp.

I am not sure if both are related but it seems like its just some build process that is missing.

adding components seem to work normally compared to the repo from Nicogo.

[Eideren]

Forgot to mention that nonsense, there is a ridiculous workaround in place because central package management is still an incomplete often buggy mess.
The issue goes something like this; Demo should behave like a normal stride game solution, so instead of referencing the engine projects, like other solutions in the engine, it references the packages of the engine, those packages must be the local ones to ensure that we catch changes the user made to the engine locally.
Previously this worked fine, but under central package management, we must add a package source to reference local packages. Obviously this is just for one specific project, so I shouldn't add it to the global one. Given that, here's what I tried:

• <ManagePackageVersionsCentrally>false</ManagePackageVersionsCentrally>
• Adding a Directory.Packages.props to a sub-directory to override the global one.

It either only works on clean builds or is just ignored entirely.

So, what you should be doing is build all projects in build\Stride.sln then open sources\engine\Stride.BepuPhysics\Stride.BepuPhysic.Demo.sln in another VS instance and build/run it there ...

If someone want to take a look at this feel free to do so, I just don't have the patience to deal with nuget's garbage anymore.

[delustra]

Testing the branch, couple of issues surfaced:

1. Collidable Gizmo doesn't update in the editor when I change the Position of the Body Component.
   

2. I have setup a constraint between two bodies. I set new Mass for the collider of one of the bodies. The next frame the constraint looses Constraint.A and Constraint.B and the Body itself looses it's velocity.
   My guess is that in CollidableComponent.cs.

 internal void TryUpdateFeatures()
    {
        if (Simulation is not null)
            ReAttach(Simulation);
    }

the items gets detached from the simulation and then gets attached again. That's where it probably looses all its values.