Bouncing ball intersects ground for one step every bounce

[tm1rbrt]

I am simulating a bouncing ball. The ball intersects the ground for one step every time it bounces, how can I prevent this?

I am running at a fixed time step, updating the world with

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dynamicsWorld->stepSimulation(updateFreq, int(1 / updateFreq), updateFreq);

so i do not believe it is an interpolation issue.

I also have the following settings applied to my world, this fixed an issue with the ball bounce heigh being unpredictable (one bounce higher than the last)

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	info.m_splitImpulse = 1;
	info.m_splitImpulsePenetrationThreshold = 0;
	info.m_numIterations = 20;

Am i missing anything or doing something wrong?