Comment by bob1029

> Do we assume a spherical bounds and just eat the cost?

We pick the bounding volume that is most suitable to the use case. The cost of non-spherical bounding volumes is often not that severe when compared to purely spherical ones.

https://docs.bepuphysics.com/PerformanceTips.html#shape-opti...

Edit: I just noticed the doc references this issue:

https://github.com/bepu/bepuphysics2/issues/63

Seems related to the article.