Zaoshi Kaba

Personally I copy/pasted all files, including libraries, and copied boost workaround since I'm not using boost. If I remember correctly some includes needed fixing but that's all.

It does matter. If you transpose row major matrix you get column major matrix and multiplication order becomes reversed.

1. Have you tried to debug draw boxes as well, or that's already it?
2. Is your timestep small enough?
3. There's penetration value, maybe it's too high?

Either way, this kind of question would be better to post on Bullet forums.

In vertex shader you set Constant Buffers 0 and 1, while in PS it's 2 and 3, are you sure it shouldn't be 0 and 1? I think VS and PS use separate registers for these buffers, so it won't overwrite.

Those videos show nothing we could use. it would crash only if shader didn't compile successfully (assuming your code is like the one you posted - without error checking).