Improve pe Union
Current restrictions that I noticed:
-
A union of two overlapping bodies has an incorrect volume, mass and inertia tensor. Overlap should either be checked for and warned about, or the overlap volume should be estimated numerically and mass and inertia be corrected accordingly. -
Cryptic errors happen when a union is created from bodies spread across a block boundary.
Further restrictions that @eibl mentioned to me:
-
Dynamic creation and splitting of unions in parallel is problematic. -
Unclear collision handling because concave objects can collide in multiple points simultaneously.
Regarding the last point: I guess you can even have simultaneous collisions without unions. E.g. cube-cube and cube-plane (face to face), cube-cylinder, plane-cylinder and cyclinder-cylinder (face to side or face to face), or sphere-torus (moving the sphere through the center of the torus).
Edited by Michael Kuron