I see that there is one large compound move over ground, but it seem to have only one part.
I was expecting a compound with more than one part, but this seem to be one large hull that moves scraping the ground.
I will see is this happen when using convex hull instead, in the spirit to see if it is a bug or a consequence of the contact pruner.
however, to me having a box like that scraping the floor seem like a poor model for a vehicle.
the contact will be all over the place, I think a better representation would be a compound like this.
- Untitled.png (1.89 KiB) Viewed 10014 times
that will give you precise contact positions. and since you ai logic deal with contacts anywhere, them this should not affect your ai. and will fix the edge bump problem.
Also knowing when the contacts are, you can make post contact decisions.
but for that you would has to wrap the vehicle in a ndModel, and this will give you a call with all the data that you need before is goes to the solver. you can rectify contact, if there are in a bad location or deep penetration of bad normal.
but the first thing I would do is add those spheres as the contact collectors.