Sphere Collider for Spherical Game Objects [SYNTH-180]

[AlexD717]

Task

SYNTH-180

Symptom

Currently we spawn in spherical game objects and apply a mesh collider resulting in them being composed of multiple triangles. This in turn results in them often glitching through the ground, especially when pushed by a robot.

Solution

Use Waddell's sphericity formula to determine if a game object is a sphere and if it is, we apply a sphere collider rather than a mesh collider. We also apply "stiction" (or a deadzone), so if a spherical gameobjects linear/angular speed is less than the limit, we clamp it to 0. This clamping is necessary to prevent them from rolling randomly in the 2026/2025 fields.

Verification

• Balls no longer glitch through the ground when hit on 2025/2026 fields
• Performance is about the same (the improvements I was able to measure look to be a result of balls no longer glitching through the ground)
• Non spherical gameobjects still act as before
• 2025/2026 balls do not leave their start position until acted upon by an outside force

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Before merging, ensure the following criteria are met:

• All acceptance criteria outlined in the ticket are met.
• Necessary test cases have been added and updated.
• A feature toggle or safe disable path has been added (if applicable).
• User-facing polish:
  • Ask: "Is this ready-looking?"
• Cross-linking between Jira and GitHub:
  • PR links to the relevant Jira issue.
  • Jira ticket has a comment referencing this PR.

[Dhruv-0-Arora]

VERY much needed change 👍