Real-Time Physics Simulation Forum

My code for creating convex hulls: // p->count/3 == number of vertices btConvexHullShape* convex = new btConvexHullShape(&points[0].getX(), p->count/3); convex->optimizeConvexHull(); convex->initializePolyhedralFeatures(1); convex->setMargin(margin); // Later in the code ... // body is btRigidBo...

The btConvexHullShape objects that I create are penetrating other rigid bodies and sinking into their interiors. I have tested this with the btBoxShape and btStaticPlaneShape and got the same result. The below images show how I created a simple tetrahedron with coordinates <0,0,0,>, <1,0,0>, <0,1,0>...

I'm trying to get a better understanding of each of the different collision settings for the btSoftBody type by applying the fCollision bitmasks to softBody->m_cfg.collisions; but I really can't get a clear idea of what these different options do because the documentation here: http://bulletphysics....