How to adjust skin widh in bullet?

[winspear]

I have used Nvidia physx before and SKIN_WIDTH used to control the amount of penetration allowed between two bodies.
What is the equivalent of SKIN_WIDTH in bullet and how to set it?

[Erwin Coumans]

NVidia works different from Bullet, PhysX is penetration based hence the skin width.

Bullet can deal with contacts with both negative (penetration) and positive distances. There are some parameters to control contact distances, such as

collisionShape->setMargin(...) is vaguely similar to skinwidth
Contact distances above the threshold set by collisionObject->setContactProcessingThreshold(...) are ignored/discarded.
Allowing a deeper penetration in the constraint solver, using world->getSolverInfo().m_linearSlop

Thanks,
Erwin