chore: Update BepuPhysics to 2.5.0-beta.27

sources/Directory.Packages.props

@@ -4,7 +4,7 @@
   </PropertyGroup>
   <!-- Runtime dependencies -->
   <ItemGroup>
-    <PackageVersion Include="BepuPhysics" Version="2.5.0-beta.25" />
+    <PackageVersion Include="BepuPhysics" Version="2.5.0-beta.27" />
     <PackageVersion Include="DotRecast.Core" Version="2025.2.1" />
     <PackageVersion Include="DotRecast.Detour" Version="2025.2.1" />
     <PackageVersion Include="DotRecast.Recast" Version="2025.2.1" />

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics/BepuSimulation.cs

@@ -366,7 +366,7 @@ public bool ShouldPerformPhysicsTest(CollisionMask mask, CollidableReference col
     public bool RayCast(in Vector3 origin, in Vector3 dir, float maxDistance, out HitInfo result, CollisionMask collisionMask = CollisionMask.Everything)
     {
         var handler = new RayClosestHitHandler(this, collisionMask);
-        Simulation.RayCast(origin.ToNumeric(), dir.ToNumeric(), maxDistance, ref handler);
+        Simulation.RayCast(origin.ToNumeric(), dir.ToNumeric(), maxDistance, BufferPool, ref handler);
         if (handler.HitInformation.HasValue)
         {
             result = handler.HitInformation.Value;
@@ -397,7 +397,7 @@ public unsafe ConversionEnum<ManagedConverter, HitInfoStack, HitInfo> RayCastPen
         fixed (HitInfoStack* ptr = &buffer[0])
         {
             var handler = new RayHitsStackHandler(ptr, buffer.Length, this, collisionMask);
-            Simulation.RayCast(origin.ToNumeric(), dir.ToNumeric(), maxDistance, ref handler);
+            Simulation.RayCast(origin.ToNumeric(), dir.ToNumeric(), maxDistance, BufferPool, ref handler);
             return new (buffer[..handler.Head], new ManagedConverter(this));
         }
     }
@@ -414,7 +414,7 @@ public unsafe ConversionEnum<ManagedConverter, HitInfoStack, HitInfo> RayCastPen
     public void RayCastPenetrating(in Vector3 origin, in Vector3 dir, float maxDistance, ICollection<HitInfo> collection, CollisionMask collisionMask = CollisionMask.Everything)
     {
         var handler = new RayHitsCollectionHandler(this, collection, collisionMask);
-        Simulation.RayCast(origin.ToNumeric(), dir.ToNumeric(), maxDistance, ref handler);
+        Simulation.RayCast(origin.ToNumeric(), dir.ToNumeric(), maxDistance, BufferPool, ref handler);
     }
 
     /// <summary>
@@ -622,7 +622,7 @@ private unsafe void OverlapInner<TShape, TCollector>(in TShape shape, in SRigidP
 
             try
             {
-                Simulation.BroadPhase.GetOverlaps(boundingBoxMin, boundingBoxMax, ref broadPhaseEnumerator);
+                Simulation.BroadPhase.GetOverlaps(boundingBoxMin, boundingBoxMax, BufferPool, ref broadPhaseEnumerator);
 
                 var batcher = new CollisionBatcher<BatcherCallbacks<TCollector>>(BufferPool, Simulation.Shapes, Simulation.NarrowPhase.CollisionTaskRegistry, 0, new()
                 {

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics/CollidableComponent.cs

@@ -464,6 +464,6 @@ internal void RayTest<TRayHitHandler>(
         if (ShapeIndex.Exists == false || Simulation is null)
             return;
 
-        Collider.RayTest(Simulation.Simulation.Shapes, ShapeIndex, Pose!.Value, new RayData { Origin = origin, Direction = dir }, ref maximumT, ref hitHandler);
+        Collider.RayTest(Simulation.Simulation.Shapes, ShapeIndex, Pose!.Value, new RayData { Origin = origin, Direction = dir }, ref maximumT, ref hitHandler, Simulation.BufferPool);
     }
 }

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics/Definitions/Colliders/CompoundCollider.cs

@@ -127,16 +127,16 @@ void ICollider.AppendModel(List<BasicMeshBuffers> buffer, ShapeCacheSystem shape
         }
     }
 
-    void ICollider.RayTest<TRayHitHandler>(Shapes shapes, TypedIndex shapeIndex, in NRigidPose pose, in RayData ray, ref float maximumT, ref TRayHitHandler hitHandler)
+    void ICollider.RayTest<TRayHitHandler>(Shapes shapes, TypedIndex shapeIndex, in NRigidPose pose, in RayData ray, ref float maximumT, ref TRayHitHandler hitHandler, BufferPool pool)
     {
         if (shapeIndex.Type == Compound.TypeId)
         {
-            shapes.GetShape<Compound>(shapeIndex.Index).RayTest(pose, in ray, ref maximumT, shapes, ref hitHandler);
+            shapes.GetShape<Compound>(shapeIndex.Index).RayTest(pose, in ray, ref maximumT, shapes, pool, ref hitHandler);
         }
         else
         {
             Debug.Assert(shapeIndex.Type == BigCompound.TypeId);
-            shapes.GetShape<BigCompound>(shapeIndex.Index).RayTest(pose, in ray, ref maximumT, shapes, ref hitHandler);
+            shapes.GetShape<BigCompound>(shapeIndex.Index).RayTest(pose, in ray, ref maximumT, shapes, pool, ref hitHandler);
         }
     }
 }

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics/Definitions/Colliders/EmptyCollider.cs

@@ -44,7 +44,7 @@ bool ICollider.TryAttach(Shapes shapes, BufferPool pool, ShapeCacheSystem shapeC
         return true;
     }
 
-    void ICollider.RayTest<TRayHitHandler>(Shapes shapes, TypedIndex shapeIndex, in NRigidPose pose, in RayData ray, ref float maximumT, ref TRayHitHandler hitHandler)
+    void ICollider.RayTest<TRayHitHandler>(Shapes shapes, TypedIndex shapeIndex, in NRigidPose pose, in RayData ray, ref float maximumT, ref TRayHitHandler hitHandler, BufferPool pool)
     {
     }
 }

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics/Definitions/Colliders/ICollider.cs

@@ -33,6 +33,7 @@ internal void RayTest<TRayHitHandler>(
         in NRigidPose pose,
         in RayData ray,
         ref float maximumT,
-        ref TRayHitHandler hitHandler)
+        ref TRayHitHandler hitHandler,
+        BufferPool pool)
         where TRayHitHandler : struct, IShapeRayHitHandler;
 }

sources/engine/Stride.BepuPhysics/Stride.BepuPhysics/Definitions/Colliders/MeshCollider.cs

@@ -118,9 +118,9 @@ void ICollider.AppendModel(List<BasicMeshBuffers> buffer, ShapeCacheSystem shape
         cacheOut = cache;
     }
 
-    void ICollider.RayTest<TRayHitHandler>(Shapes shapes, TypedIndex shapeIndex, in NRigidPose pose, in RayData ray, ref float maximumT, ref TRayHitHandler hitHandler)
+    void ICollider.RayTest<TRayHitHandler>(Shapes shapes, TypedIndex shapeIndex, in NRigidPose pose, in RayData ray, ref float maximumT, ref TRayHitHandler hitHandler, BufferPool pool)
     {
         Debug.Assert(shapeIndex.Type == Mesh.TypeId);
-        shapes.GetShape<Mesh>(shapeIndex.Index).RayTest(pose, in ray, ref maximumT, ref hitHandler);
+        shapes.GetShape<Mesh>(shapeIndex.Index).RayTest(pose, in ray, ref maximumT, pool, ref hitHandler);
     }
 }