BEPUphysics

Is there a way to improve collision stability? If I stack boxes on top of each other, often even a stack of two cubes "falls" down: one edge of the top box bounces up and causes the top box fall down. The best stack so far I've managed to get is 4 boxes.

I also have trouble with shapes like pentagonal cupola (using convex hull shape). When I have a few of them colliding it seems that they overlap and not all collisions are properly handled. Stacking these also seem to be very difficult or impossible.

Edit: See http://www.bepu-games.com/forums/viewto ... 7740#p7740 - I am not using Microsoft XNA, instead I am using MonoXNA implementation.

To eliminate possible configuration problems, could you try copying over some of the BEPUphysicsDemos simulations and seeing how they behave as a control? If a simple demo like the WallDemo fails catastrophically under Mono, that would imply the problem is with the underlying framework or some tiny detail in the porting process.