Hi Erwin,
I've encountered some issue with normals adjusting. When box moves towards the corner, sometimes contact normals are corrected in unusual way, which results in box "pulling into" the corner. On the picture red arrow is normal before correction, blue - after correction, yellow are mesh surface normals.
I'm not sure about why this is happening, but it seems that concave edge is somehow recognized as convex (as it executes numConvexEdgeHits increment on lines 554, 636 or 714 of btInternalEdgeUtility.cpp, I'm using btInternalEdgeUtility.cpp from this post attachment:
http://bulletphysics.org/Bullet/phpBB3/ ... 478#p21478 )
I've made some reproduction case - mesh is kind of a square tube with triangle normals directed to the inside. To move the box gravity is directed towards the corner, but not vertical (it's modified ConcaveDemo).
Without adjusting box is almost still (I suppose small movement is because of huge gravity, but it's fine) -
http://www.youtube.com/watch?v=wVS1Kq4bA6s
But with adjusting box is noticeably shaking -
http://www.youtube.com/watch?v=XGIQjNQ1xmM
By default internal edges adjusting is turned on, use 'n' key to toggle.
Bullet version used is 2.77 with this post update:
http://bulletphysics.org/Bullet/phpBB3/ ... 478#p21478
Thanks!
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