Hi,
I'm fairly new to Bullet and having an issue with dynamic objects colliding with static ones when the dynamic objects have CCD enabled. The dynamic objects seem to get a huge resolved force after penetrating into the static object. I've stepped through, and it seems that my CCD enabled sphere is colliding with my static (mass 0) btBvhTriangleMeshShape, and it's calling resolveSingleCollision, which seems to be designed to only be called for pairs of two dynamic objects.
I was able to reproduce this in the CcdPhysicsDemo by giving the ground object and the shoot cube a restitution (0.25f each), and changing the shoot force down to 30.0f . When you shoot toward the ground, if the CCD is triggered, the cube will be given an unnaturally large upward force.
Reverting the btDiscreteDyanmicsWorld class back to the 2.77 version seems to have fixed it (I didn't want to do a full revert, as the new InternalEdge stuff fixed other issues that I was having), but that's only a temporary solution. I'd like to hear what a more experienced person thinks about this issue. (Am I just missing something obvious?)
Thanks!