Can i help Bullet to resolve collisions

[Yola]

Hello,

i have a simulation of pallet with a lot of boxes on it. But at the bottom of the pallet i see that boxes penetrate into each over. Can i tune Bullet to resolve it or write my handler to resolve it? If it is possible to add such a handler, then how can i do it?

[steven]

Could you share your code? i can work with you together.

[Erwin Coumans]

A few things to try:

• * use a smaller simulation step
  * increase the number of solver iterations
  * use a direct solver, Bullet provides Dantzig MLCP solver, see some of the examples in the ExampleBrowser
  * Use a btBoxShape for the ground
  * Enable SAT, separating axis test if you use btConvexHullShape

Good luck!
Erwin