My algorithm to convex decomposition with safe of shape. I have a concave triangulated mesh. For ever face i add a new point in center of face and move this point along face's normal insige mesh. Now I have a pyramid!
So i have a set of pyramids for each face. Then I create a btConvexHullShape for each pyramid and build a btCompoundShape with these convex bodies.
But i have a trouble. If my mesh is simple then all is ok. But if proportions of faces triangles is poor (for example, one side is small, one - big), then simulation is not so stable.
Also I have question: is it ok if my convex shapes inside compound shape have intersections?