rigid body exploded out when I use btGImpactMeshShape

[absifreei]

hello world:
At first I must say I am new to bullet, and I am testing on bullet solver for houdini in DOP at the moment, and my problem is:
1) when I build rigid body using btGImpactMeshShape, and all rigid bodies have no gaps between each other, when simulation start, the bodies will explode out, below is my code:

Code: Select all

// concave collision shape
btGImpactMeshShape *impactShape = new btGImpactMeshShape(indexVertexArray);
impactShape->updateBound();
fallShape = impactShape;
btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>
(state->m_dynamicsWorld ->getDispatcher());
btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);

2) then I tried build rigid body using btConvexTriangleMeshShape, everything is ok, but if there are some concave shapes like broken woods, they will explode out again, so how can I solve this problem .
anyone could help me?