Bullet 2.32 contains several improvements on penetration depth calculation.
- New EPA, expanding polytope algorithm, contributed by Nathanael Presson
- Improved minkowski sampling penetration depth solving
- Added Pierre Terdimans penetration depth testing Demo
- Added previous Sequential Impulse Constraint Solver method, that used different friction ordering+warmstarting. Use btSequentialImpulseConstraintSolver2
http://www.continuousphysics.com/mediaw ... e=Download
Enjoy,
Erwin
Bullet 2.32 release with new Penetration Depth Impl.
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