Large incorrect CollideShapeResult::mPenetrationDepth from mesh-capsule collision about joltphysics HOT 4 CLOSED

Thanks for the effort in making this repro! I can reproduce it locally but it is going to take some time to analyze this (these kinds of issues are very hard).

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or that the meshes literally contain degenerate triangles

No, your mesh didn't contain any degenerate triangles that I encountered. The problem is that GJK built an internal representation of the overlap between the triangle and the capsule that consisted of a degenerate triangle.

Thanks for testing!

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I managed to move your repro case to the Samples app so that I can debug it in MSVC (attaching it for future reference):

SimpleTest.zip

After a long debugging session it turned out to be a problem that I ran into before where inside the GJK algorithm a degenerate triangle was not detected as such and caused a wrong contact point. In this case it reported a penetration of 4 meter so the character got pushed out by 4 meters in 1 frame. Increasing the epsilon makes the problem go away (unfortunately I don't see a better way).

Could you try out #946 and tell me if this fixes all of your issues?

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it turned out to be a problem that I ran into before where inside the GJK algorithm a degenerate triangle was not detected as such

To be clear, do you mean that the meshes in the repro were hitting what can be described as a degenerate case in the GJK algorithm, or that the meshes literally contain degenerate triangles? Unless I've made a silly mistake, the latter shouldn't be true.

Regardless, I tested #946 in the repro and in my actual application at all the known affected locations in the scene, and the high penetration / character-push issue no longer occurs. Thanks for digging into this!

EDIT: I don't know if you prefer reporters to close issues, but that's the button I clicked.

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