From 7bc6efceea6069a77c6863b501e055813e0e9278 Mon Sep 17 00:00:00 2001
From: nnra6864 <nnra2210@gmail.com>
Date: Mon, 30 Mar 2026 02:41:56 +0200
Subject: [PATCH 1/4] 6.5 Fixes

---
 .../Runtime/Scripts/BetterRigidbody.cs        |  6 ++-
 .../Scripts/ContactModificationManager.cs     | 45 ++++++++++++++++++-
 2 files changed, 48 insertions(+), 3 deletions(-)

diff --git a/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs b/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
index 46fd663..37f25c9 100644
--- a/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
+++ b/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
@@ -226,7 +226,11 @@ private void ApplyHardLimit(SpeedLimit limit) {
             }
         }
 
+#if UNITY_6000_5_OR_NEWER
+        internal EntityId GetEntityId() => _rb.GetEntityId();
+#else
         internal int GetRigidbodyInstanceID() => _rb.GetInstanceID();
+#endif
         internal Rigidbody WrappedRigidbody => GetComponent<Rigidbody>();
 
         public Vector3 Velocity {
@@ -838,4 +842,4 @@ private Vector3 CalculateVelocityChangeWithSoftLimit(in Vector3 currentVelocity,
 
         #endregion
     }
-}
\ No newline at end of file
+}
diff --git a/Assets/BetterPhysics/Runtime/Scripts/ContactModificationManager.cs b/Assets/BetterPhysics/Runtime/Scripts/ContactModificationManager.cs
index 4e8870d..dc32e86 100644
--- a/Assets/BetterPhysics/Runtime/Scripts/ContactModificationManager.cs
+++ b/Assets/BetterPhysics/Runtime/Scripts/ContactModificationManager.cs
@@ -29,10 +29,18 @@ public static ContactModificationManager Instance {
         /// </summary>
         public static ContactModificationManager WeakInstance => _instance;
 
+#if UNITY_6000_5_OR_NEWER
+        private Dictionary<EntityId, IDictionary<int, OneWayLayerInteraction>> _perRigidbodyData;
+#else
         private Dictionary<int, IDictionary<int, OneWayLayerInteraction>> _perRigidbodyData;
-        
+#endif
+
         // Tracks which BetterRigidbody is in which layer
+#if UNITY_6000_5_OR_NEWER
+        private Dictionary<EntityId, int> _rigidbodyLayerMapping;
+#else
         private Dictionary<int, int> _rigidbodyLayerMapping;
+#endif
         
         private BetterPhysicsSettings _settings;
 
@@ -54,8 +62,13 @@ private void PhysicsOnContactModifyEvent(PhysicsScene scene, NativeArray<Modifia
             for (int i = 0; i < contactPairs.Length; i++) {
                 var pair = contactPairs[i];
                 
+#if UNITY_6000_5_OR_NEWER
+                EntityId bodyAId = pair.bodyEntityId;
+                EntityId bodyBId = pair.otherBodyEntityId;
+#else
                 int bodyAId = pair.bodyInstanceID;
                 int bodyBId = pair.otherBodyInstanceID;
+#endif
                 
                 if (!_rigidbodyLayerMapping.TryGetValue(bodyAId, out int layerA)) {
                     // Debug.Log($"Body A {bodyAId} is not a registered BRB");
@@ -138,7 +151,11 @@ private void PhysicsOnContactModifyEvent(PhysicsScene scene, NativeArray<Modifia
         }
 
         public void Register(BetterRigidbody body) {
+#if UNITY_6000_5_OR_NEWER
+            var rbInstanceId = body.GetEntityId();
+#else
             var rbInstanceId = body.GetRigidbodyInstanceID();
+#endif
             _rigidbodyLayerMapping[rbInstanceId] = body.PhysicsLayer;
             _perRigidbodyData[rbInstanceId] = body.SerializedInteractions;
             
@@ -146,27 +163,43 @@ public void Register(BetterRigidbody body) {
         }
 
         public void UnRegister(BetterRigidbody body) {
+#if UNITY_6000_5_OR_NEWER
+            var rbInstanceId = body.GetEntityId();
+#else
             var rbInstanceId = body.GetRigidbodyInstanceID();
+#endif
             _perRigidbodyData.Remove(rbInstanceId);
             _rigidbodyLayerMapping.Remove(rbInstanceId);
         }
 
         public void ResetCustomInteractions(BetterRigidbody body) {
+#if UNITY_6000_5_OR_NEWER
+            var rbInstanceId = body.GetEntityId();
+#else
             var rbInstanceId = body.GetRigidbodyInstanceID();
+#endif
             if (_perRigidbodyData.TryGetValue(rbInstanceId, out var data)) {
                 data.Clear();
             }
         }
 
         public void SetCustomInteraction(BetterRigidbody body, OneWayLayerInteraction interaction) {
+#if UNITY_6000_5_OR_NEWER
+            var rbInstanceId = body.GetEntityId();
+#else
             var rbInstanceId = body.GetRigidbodyInstanceID();
+#endif
             if (_perRigidbodyData.TryGetValue(rbInstanceId, out var data)) {
                 data[interaction.receiver] = interaction;
             }
         }
 
         public bool RemoveCustomInteraction(BetterRigidbody body, int receiverLayer) {
+#if UNITY_6000_5_OR_NEWER
+            var rbInstanceId = body.GetEntityId();
+#else
             var rbInstanceId = body.GetRigidbodyInstanceID();
+#endif
             if (_perRigidbodyData.TryGetValue(rbInstanceId, out var data)) {
                 return data.Remove(receiverLayer);
             }
@@ -175,7 +208,11 @@ public bool RemoveCustomInteraction(BetterRigidbody body, int receiverLayer) {
         }
 
         public bool TryGetCustomInteraction(BetterRigidbody body, int receiverLayer, out OneWayLayerInteraction interaction) {
+#if UNITY_6000_5_OR_NEWER
+            var rbInstanceId = body.GetEntityId();
+#else
             var rbInstanceId = body.GetRigidbodyInstanceID();
+#endif
             if (_perRigidbodyData.TryGetValue(rbInstanceId, out var data)) {
                 return data.TryGetValue(receiverLayer, out interaction);
             }
@@ -185,9 +222,13 @@ public bool TryGetCustomInteraction(BetterRigidbody body, int receiverLayer, out
         }
 
         public void UpdateBodyLayer(BetterRigidbody body) {
+#if UNITY_6000_5_OR_NEWER
+            var rbInstanceId = body.GetEntityId();
+#else
             var rbInstanceId = body.GetRigidbodyInstanceID();
+#endif
             _rigidbodyLayerMapping.Remove(rbInstanceId);
             _rigidbodyLayerMapping[rbInstanceId] = body.PhysicsLayer;
         }
     }
-}
\ No newline at end of file
+}

From 4ff843ec8f32e44c2e8f30222fa16341e1db6ae7 Mon Sep 17 00:00:00 2001
From: nnra6864 <nnra2210@gmail.com>
Date: Mon, 30 Mar 2026 02:49:24 +0200
Subject: [PATCH 2/4] Fixed naming in BetterRigidbody so it's not hiding an
 underlying member

---
 Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs b/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
index 37f25c9..955c736 100644
--- a/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
+++ b/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
@@ -227,7 +227,7 @@ private void ApplyHardLimit(SpeedLimit limit) {
         }
 
 #if UNITY_6000_5_OR_NEWER
-        internal EntityId GetEntityId() => _rb.GetEntityId();
+        internal EntityId GetRigidbodyEntityId() => _rb.GetEntityId();
 #else
         internal int GetRigidbodyInstanceID() => _rb.GetInstanceID();
 #endif

From d1a572d9346d5b3888e7ea34877ec55d99b3fe66 Mon Sep 17 00:00:00 2001
From: nnra6864 <nnra2210@gmail.com>
Date: Mon, 30 Mar 2026 02:53:00 +0200
Subject: [PATCH 3/4] Removed SetDensity Obsolete warning

---
 Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs b/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
index 955c736..25f6431 100644
--- a/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
+++ b/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
@@ -493,7 +493,9 @@ public void AddRelativeTorque(float x, float y, float z, ForceMode mode = ForceM
         public Action<Quaternion> MoveRotation => _rb.MoveRotation;
         public Action ResetCenterOfMass => _rb.ResetCenterOfMass;
         public Action ResetInertiaTensor => _rb.ResetInertiaTensor;
+#if !UNITY_6000_0_OR_NEWER
         public Action<float> SetDensity => _rb.SetDensity;
+#endif
         public Action Sleep => _rb.Sleep;
 
         public bool SweepTest(Vector3 direction, out RaycastHit hitInfo, float maxDistance = Mathf.Infinity,

From 4b9310516462432a8f522f8c8f07f5dc8940724a Mon Sep 17 00:00:00 2001
From: nnra6864 <nnra2210@gmail.com>
Date: Wed, 1 Apr 2026 00:53:54 +0200
Subject: [PATCH 4/4] Switched min ver from 6.5 to 6.4 where appropriate

---
 .../Runtime/Scripts/BetterRigidbody.cs        |  2 +-
 .../Scripts/ContactModificationManager.cs     | 20 +++++++++----------
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs b/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
index 25f6431..39e0eba 100644
--- a/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
+++ b/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
@@ -226,7 +226,7 @@ private void ApplyHardLimit(SpeedLimit limit) {
             }
         }
 
-#if UNITY_6000_5_OR_NEWER
+#if UNITY_6000_4_OR_NEWER
         internal EntityId GetRigidbodyEntityId() => _rb.GetEntityId();
 #else
         internal int GetRigidbodyInstanceID() => _rb.GetInstanceID();
diff --git a/Assets/BetterPhysics/Runtime/Scripts/ContactModificationManager.cs b/Assets/BetterPhysics/Runtime/Scripts/ContactModificationManager.cs
index dc32e86..0927828 100644
--- a/Assets/BetterPhysics/Runtime/Scripts/ContactModificationManager.cs
+++ b/Assets/BetterPhysics/Runtime/Scripts/ContactModificationManager.cs
@@ -29,14 +29,14 @@ public static ContactModificationManager Instance {
         /// </summary>
         public static ContactModificationManager WeakInstance => _instance;
 
-#if UNITY_6000_5_OR_NEWER
+#if UNITY_6000_4_OR_NEWER
         private Dictionary<EntityId, IDictionary<int, OneWayLayerInteraction>> _perRigidbodyData;
 #else
         private Dictionary<int, IDictionary<int, OneWayLayerInteraction>> _perRigidbodyData;
 #endif
 
         // Tracks which BetterRigidbody is in which layer
-#if UNITY_6000_5_OR_NEWER
+#if UNITY_6000_4_OR_NEWER
         private Dictionary<EntityId, int> _rigidbodyLayerMapping;
 #else
         private Dictionary<int, int> _rigidbodyLayerMapping;
@@ -62,7 +62,7 @@ private void PhysicsOnContactModifyEvent(PhysicsScene scene, NativeArray<Modifia
             for (int i = 0; i < contactPairs.Length; i++) {
                 var pair = contactPairs[i];
                 
-#if UNITY_6000_5_OR_NEWER
+#if UNITY_6000_4_OR_NEWER
                 EntityId bodyAId = pair.bodyEntityId;
                 EntityId bodyBId = pair.otherBodyEntityId;
 #else
@@ -151,7 +151,7 @@ private void PhysicsOnContactModifyEvent(PhysicsScene scene, NativeArray<Modifia
         }
 
         public void Register(BetterRigidbody body) {
-#if UNITY_6000_5_OR_NEWER
+#if UNITY_6000_4_OR_NEWER
             var rbInstanceId = body.GetEntityId();
 #else
             var rbInstanceId = body.GetRigidbodyInstanceID();
@@ -163,7 +163,7 @@ public void Register(BetterRigidbody body) {
         }
 
         public void UnRegister(BetterRigidbody body) {
-#if UNITY_6000_5_OR_NEWER
+#if UNITY_6000_4_OR_NEWER
             var rbInstanceId = body.GetEntityId();
 #else
             var rbInstanceId = body.GetRigidbodyInstanceID();
@@ -173,7 +173,7 @@ public void UnRegister(BetterRigidbody body) {
         }
 
         public void ResetCustomInteractions(BetterRigidbody body) {
-#if UNITY_6000_5_OR_NEWER
+#if UNITY_6000_4_OR_NEWER
             var rbInstanceId = body.GetEntityId();
 #else
             var rbInstanceId = body.GetRigidbodyInstanceID();
@@ -184,7 +184,7 @@ public void ResetCustomInteractions(BetterRigidbody body) {
         }
 
         public void SetCustomInteraction(BetterRigidbody body, OneWayLayerInteraction interaction) {
-#if UNITY_6000_5_OR_NEWER
+#if UNITY_6000_4_OR_NEWER
             var rbInstanceId = body.GetEntityId();
 #else
             var rbInstanceId = body.GetRigidbodyInstanceID();
@@ -195,7 +195,7 @@ public void SetCustomInteraction(BetterRigidbody body, OneWayLayerInteraction in
         }
 
         public bool RemoveCustomInteraction(BetterRigidbody body, int receiverLayer) {
-#if UNITY_6000_5_OR_NEWER
+#if UNITY_6000_4_OR_NEWER
             var rbInstanceId = body.GetEntityId();
 #else
             var rbInstanceId = body.GetRigidbodyInstanceID();
@@ -208,7 +208,7 @@ public bool RemoveCustomInteraction(BetterRigidbody body, int receiverLayer) {
         }
 
         public bool TryGetCustomInteraction(BetterRigidbody body, int receiverLayer, out OneWayLayerInteraction interaction) {
-#if UNITY_6000_5_OR_NEWER
+#if UNITY_6000_4_OR_NEWER
             var rbInstanceId = body.GetEntityId();
 #else
             var rbInstanceId = body.GetRigidbodyInstanceID();
@@ -222,7 +222,7 @@ public bool TryGetCustomInteraction(BetterRigidbody body, int receiverLayer, out
         }
 
         public void UpdateBodyLayer(BetterRigidbody body) {
-#if UNITY_6000_5_OR_NEWER
+#if UNITY_6000_4_OR_NEWER
             var rbInstanceId = body.GetEntityId();
 #else
             var rbInstanceId = body.GetRigidbodyInstanceID();