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Release 1.5.0: cylinders - #10
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Milestone 26. shape: 'cylinder' with radius and height along its own y, for bodies and compound parts. A cylinder has no finite list of faces and edges, so every pair with one goes one way: GJK's closest points when apart, separating axes over the axes that can part it when overlapping, then each shape's feature facing the other (an end's disc, a side's line, a rim point; a face, edge or corner) clipped to the flat one. A ball against one is exact. Triangles follow the capsule's rules, with separating axes where the cylinder cuts in beside its feature. On its side its contacts follow its axis, as a capsule's; on its end its points turn with it, as a box's. Rolling resistance 0.01, as a ball's. Found on the way: the feature was chosen within the margin, so a wheel spinning fast took its end for its side; a fallback point at a triangle's middle kicked wheels at seams; and a tilted end offered only its lowest rim point, which let cylinders sink into curved terrain (114 of 150 through, now none). Shape codes moved to make room (mesh 6, heightfield 7): FORMAT 20. The mixed scene has three cylinders, so HASH changed. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Cylinders: wheels, logs, barrels and coins, round one way and flat the other. They roll on their side, stand on their ends and catch on their rims, against every shape and on any ground, and a car on cylinder wheels crosses a heightfield at 20 m/s with every wheel down. Saves are now format 20. See the changelog's 1.5.0 section.
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