Warning Against Concave Meshes in Manual?

[bobthebuilder]

Dear Bullet Physics Community,

I am curious as to the reasoning behind the warning on page 17 of the Bullet 2.76 Physics SDK Manual: "Ideally, concave meshes should only be used for static artwork."

What is the rationale behind this warning? Is the concave mesh-mesh code (GIMPACT, I believe) slow, are there robustness issues, or are there other concerns? In my current application I am not terribly concerned with speed, but robustness is very important. Can I safely use GIMPACT?

Thank you for your advice and for the wonderful library!

[bobthebuilder]

P.S.
Are there examples of using GIMPACT with simulated rigid bodies available? The ConcaveDemo provided with Bullet only appears to use a concave mesh for the floor.

Thanks!

[bobthebuilder]

To answer my second question, it looks like MovingConcaveDemo is what I want .