Hi
this is the first time i'm using bullet physics, and i have encounter a problem that i don't know if it's known in bullet library.
the problem is that when boxes rest, they penetrate each other.

im using the default btSequentialImpulseConstraintSolver.
this is an image of what i mean.

this is how i get the world transform

btTransform bttransform;

I suspect you have setup the collision shape incorrectly, or something else incorrectly in your code. I doubt this simple problem is related to Bullet.

Before running the simulation, create a debug unit test for the shapes, rendering vertices, and normals appropriately (e.g. check if a box has correct extents assigned to it). You shouldn't just throw them in on bodies without validating before.

Also, read Bullet's documentation carefully. It is a very granular API IMHO which might help you to miss things easily.

yeap, that was my bad, the problem was a quaternion mat3 conversion.

thank you all,