Yes, according to the Bullet documentation and my own tests the bvhStaticTriangleMesh shape is
faster. The bvhStaticTriangleMesh collision shape is designed for static objects only and does not get
a mass calculation like dynamic objects. In my opinion you should be using it for all static objects.
Also according to the Bullet documentation and Erwin Coumans ( author of Bullet ) convex hulls are faster
then the primitives for dynamic objects. I believe that this is where Bullet differs for other physics engines.
Also if you were to use six box collision shapes together for one object it would be best to combine them into a
compound collision shape as this is faster whether it is static or dynamic. You can email me if you need further info.
P.S. You should be reusing collision shapes to conserve memory and save out the collision shapes to file and load
them rather then recreating them each time for faster loading.
The coffee is lovely dark and deep,and I have code to write before I sleep.