JigLibX - Collision Islands
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I know what caused the objects left hanging in your code it was 'DampAllActiveBodies' but i was not happy with the freezing because often stacked things get partly freezed and then reactivated which made it jiggle ;) I wrote a simple recursive method which builds this islands very fast and isn't complicated but someone else has to backport it because im not good enough in c++.
noone688 4 years ago
the library has some default primitives. (Box, Heightmap, TriangleMesh, Sphere, Capsule) So, yes this is pixelperfect collision.
noone688 4 years ago