First of all, thanks for the good work. Having arbitrary convex meshes will definitely improve the usefulness of ODE.
I've been compiled and playing around with the BulletBoxStack demo, and it's really promising. Two issues i've realized:
- it has problems with large geoms; i've created a larger ground box (1000*1000*1m in size), and the bullet objects started penetrating and jumping; they miss collisions until the moving geom penetrates deep enough (this can even be about 0.5), and then realizes the deep penetration correctly, but drops it again as soon as the penetration decreases a bit... As i've debugged the code, it seems the main problem is in MinkowskiPenetrationDepthSolver::CalcPenDepth. I guess using EPA instead could cure this. What do you think?
- rolling cylinders gain torque, just like they would have a 'negative rolling resistance', because the contact points go 'late'; they are generated a bit behind the correct position.