Hi,
I have a character who is covered in a layer of ice. There is a small tolerance between the character and the ice covering. I run a RBD dynamic sim on the ice geo with the character as a static object. It all works as expected- except for the first 6 frames or so, where there is no collision detected, and the ice intersects the static collision object. You can see it pop in the attached movie file.

What settings in the AutoDopNetwork am I missing to get this to respect the collision at the start of the sim?

I have played around with substeps in the sim but aren't having much luck.

Thanks in advance

changing the solver from bullet to RDB seems to do the trick….