I was iterating through all contact manifold points to figure out what dynamic objects were "supported" and not. Mostly capsules (representing characters) on a static triangle-mesh. I was quite surprised by the directions of the normals found in the manifold points. Whenever the capsule would be on an edge between triangles, the normals would not be what I expected.
I now do a raycast to find the normal. It works ok, but it feels wasteful. I'm wondering what to expect from the normals in the manifold points.
Thanks for any thoughts,
Jonas
PS. first post out of the way
DS.