Special handling for sliding along interior edges of a mesh?

[Erwin Coumans]

When dealing with static geometry, artifacts can happen when sliding over borders between triangles. Do people have special code to mark interior edges? Convex decomposition? Special ways of keeping contact points persistent from one triangle to the next?

[Erin Catto]

I mark interior edges as concave (includes flat) or convex. I don't create contact points for concave or flat edges. This has been 100% robust.

For polytopes I think it is best to ignore edge-edge contact with trimesh altogether. Instead, I use the best face (on the polytope or the tri face). I reached this design after much pain.