setMargin() on btBvhTriangleMeshShape is ignored...

[reltham]

Doing a convexTest (using a sphereShape) against an object that is a btBvhTriangleMeshShape always results in the hitPoint being ~0.04f away from the actual mesh. This appears to be the default collision margin. I've tried setting the margin on the btBvhTriangleMeshShape and it seems to have no affect.

I did a little digging into the code and it appears that way down inside it's eventually doing the test against each triangle and it's on the fly constructing a triangleshape that has the default margin instead of the margin from the btBvhTriangleMeshShape.

I changed bullet code to make it use the margin from the btBvhTriangleMeshShape down in the low level. The changed files are attached to this message. It's a pretty small change. I hope I did it an acceptable way, and it can be included in future revision.

[reltham]

Any word on this?

[Erwin Coumans]

We have processed the patch, and it will be included in upcoming Bullet 2.69

Thanks a lot for the improvement/fix,
Erwin