Bullet convexsweeptest documentation and demo

[thegeneralsolution]

I have been trying to understand how to use btCollisionWorld::convexSweepTest.

I can't find any example code for how to use it on the wiki.

The user manual refers to the "Gjk Convex Cast / Sweep Demo " for how to do a sweep test. So I downloaded the latest bullet src code (On Windows). I followed the instructions in the readme: "Click on build3/vs2010.bat and open build3/vs2010/0MySolution.sln"

The solution is created but does not seem to contain a Gjk Convex Cast / Sweep Demo. Unless I am looking in the wrong place for it, or it was renamed.

This is not going so well!

(edit)

Really my question is only about the following though. This is the convexsweeptest function signature:

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 	convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const

I can guess that 'from' and 'to' are the initial and final transforms that the sweeptest is performed along. Don't know what allowedCcdPenetration does though.

and this is the ClosestConvexResultCallback constructor:

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btCollisionWorld::ClosestConvexResultCallback::ClosestConvexResultCallback	(	const btVector3 & 	convexFromWorld,
const btVector3 & 	convexToWorld )	

What are the "convexToWorld" and "convexFromWorld" parameters for?

[benelot]

Hello thegeneralsolution,

The problem about the demo is that is has not yet been ported to the Bullet Example Browser, and therefore resides in the old_demos branch. Here it is:

https://github.com/bulletphysics/bullet ... exCastDemo

I hope it helps!