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@kingscallop yeah thanks, applying almost all of your PRs (with additional changing all size_t to unsigned int) fixed the build issues What about https://github.com/fredakilla/spkgen? Have you tried it out? Is...

@kingscallop I mean visual node editor for this library, which is the most actual (if something except spkgen exists)?

Oh huge thanks for such a speed :)

Okay wait for several minutes

contactNormal: xyz: -0.000000 -0.000000 -0.000000 len: 0.000000 Crashes when I contact ground after jump (just walking works well, jumping also works but this assert hapens after 1~15 jumps, not consistent)

@DanielChappuis Convex colliders contain triangles (not polygons) for now, could it be related to the problem?

@DanielChappuis stacktrace shows SATA https://github.com/DanielChappuis/reactphysics3d/issues/279#issue-1377776992

Polyhedron face normal == 0 ``` CapsuleVsConvexPolyhedronAlgorithm::109 faceNormal 0.000000 0.000000 0.000000 len: 0.000000 CapsuleVsConvexPolyhedronAlgorithm::110 polyhedronToWorld.getOrientation() 0.000000 0.000000 0.000000 1.000000 CapsuleVsConvexPolyhedronAlgorithm::110 faceNormalWorld 0.000000 0.000000 0.000000 len: 0.000000 computeCapsulePolyhedronFaceContactPoints CapsuleVsConvexPolyhedronAlgorithm::146 faceNormalWorld -0.000000...

PolyhedronMesh::computeFacesNormals ``` const Vector3 vec1 = getVertex(face.faceVertices[1]) - getVertex(face.faceVertices[0]); const Vector3 vec2 = getVertex(face.faceVertices[2]) - getVertex(face.faceVertices[0]); mFacesNormals[f] = vec1.cross(vec2); mFacesNormals[f].normalize(); if (mFacesNormals[f].length() < 0.8f) { auto v0 = getVertex(face.faceVertices[0]); auto...

@DanielChappuis btw which algorithm/application/library are you using for convex colliders?