I have a demo of an object falling, and colliding with a static cube (which represents the floor).
I am trying to extract information about the first contact (force and contact point). The problem is that, depending on the height from which I drop the object, the contact point changes.
I changed the simulation step to be:
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m_dynamicsWorld->stepSimulation(ms / 1000000.f, 1 , btScalar(1.)/btScalar(300.));
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m_dynamicsWorld->getDispatchInfo().m_useContinuous=true;
body->setCcdMotionThreshold(0.01);
body->setCcdSweptSphereRadius(0.02f);