Rigid to SCM terrain transition issues

[juju]

Good morning,

Thank you for the example demo_VEH_RigidSCMTerrain_MixedPatches.cpp showing how to set up a simulation with rigid and SCM terrains.

In my simulations, I load my meshes inside SCMTerrain or RigidTerrain objects. The meshes are not rectangular but have complex shapes. As mentioned, I compute the bounding boxes and set SetBoundary for SCMTerrains.

However, I encounter issues when the vehicle drives from rigid to SCM terrains (and vice versa). The vehicle completely deforms the mesh and sometimes passes through it at the terrain borders. In some borders, everything works fine, and in the center of the mesh the interactions are correct.

Have you ever experienced this issue?

[juju]

Link google drive for the video

https://drive.google.com/drive/folders/1Nlzwawfy1EqYRNewbuYYi6uLCCsAPK7B?usp=sharing