diff --git a/bullet-featherstone/src/Base.hh b/bullet-featherstone/src/Base.hh
index 9e764cc4d..4db28bb08 100644
--- a/bullet-featherstone/src/Base.hh
+++ b/bullet-featherstone/src/Base.hh
@@ -28,6 +28,7 @@
 #include <BulletDynamics/Featherstone/btMultiBodyLinkCollider.h>
 #include <LinearMath/btVector3.h>
 #include <btBulletDynamicsCommon.h>
+#include "BulletCollision/Gimpact/btGImpactShape.h"
 
 #include <Eigen/Geometry>
 
@@ -340,8 +341,8 @@ class Base : public Implements3d<FeatureList<Feature>>
   public: std::unordered_map<std::size_t, CollisionInfoPtr> collisions;
   public: std::unordered_map<std::size_t, JointInfoPtr> joints;
 
-  public: std::vector<std::unique_ptr<btBvhTriangleMeshShape>> meshes;
-  public: btAlignedObjectArray<btTriangleMesh*> triangleMeshes;
+  public: std::vector<std::unique_ptr<btGImpactMeshShape>> meshesGImpact;
+  public: std::vector<std::unique_ptr<btTriangleMesh>> triangleMeshes;
 };
 
 }  // namespace bullet_featherstone
diff --git a/bullet-featherstone/src/SDFFeatures.cc b/bullet-featherstone/src/SDFFeatures.cc
index 4dab2cb61..87273aa02 100644
--- a/bullet-featherstone/src/SDFFeatures.cc
+++ b/bullet-featherstone/src/SDFFeatures.cc
@@ -729,21 +729,22 @@ bool SDFFeatures::AddSdfCollision(
               s->Vertex(i).Z() * scale.Z()));
       }
 
-      auto *btTrimesh = new btTriangleMesh();
-      this->triangleMeshes.push_back(btTrimesh);
-
+      this->triangleMeshes.push_back(std::make_unique<btTriangleMesh>());
       for (unsigned int i = 0; i < indexCount/3; i++)
       {
         const btVector3& v0 = convertedVerts[s->Index(i*3)];
         const btVector3& v1 = convertedVerts[s->Index(i*3 + 1)];
         const btVector3& v2 = convertedVerts[s->Index(i*3 + 2)];
-        btTrimesh->addTriangle(v0, v1, v2);
+        this->triangleMeshes.back()->addTriangle(v0, v1, v2);
       }
 
-      this->meshes.push_back(std::make_unique<btBvhTriangleMeshShape>(
-          btTrimesh, true, true));
-      compoundShape->addChildShape(
-          btTransform::getIdentity(), this->meshes.back().get());
+      this->meshesGImpact.push_back(
+        std::make_unique<btGImpactMeshShape>(
+          this->triangleMeshes.back().get()));
+      this->meshesGImpact.back()->updateBound();
+      this->meshesGImpact.back()->setMargin(0.001);
+      compoundShape->addChildShape(btTransform::getIdentity(),
+        this->meshesGImpact.back().get());
     }
     shape = std::move(compoundShape);
   }