RobotLocomotion/drake — pull request #267 by avalenzu (2014-08-07 14:49:39+00:00)
Title: Fix contact normals

This pull-request replaces `btBoxShape` with `btConvexHullShape` in our collision library. We aren't actually using any of Bullet's features that take advantage of box-primitives and the normals coming out of Bullet's GJK are wrong with the box primitives in some cases, but correct with the mesh primitives.