I need to do some decision tomorrow based on knowledge if Bullet can be used as Continuous Collision Checker for Motion Planning. So I really appreciate any hint or opinion.
Can be Bullet Engine used as Continuous Collision Checker for Motion Planning??
If I simplify the question, I need to know the answer at first question above:
1.) How to perform CCD (Continuous Collision Detection) for moving object (btRigidBody) -> I just need to get the answer if the movement of the object is Continuously Collision Free along given path (trajectory) + get some Report (is/isn’t collision free, nearest obstacle along the path, …) as a result. After some reading I think that this can’t be accomplished just by using btCollisionWorld, so there must be used btDiscreteDynamicsWorld (I’ve noticed of btContinuousDynamicsWorld, but it seems not to be completed yet). But it would be nicer if btCollisionWorld would be sufficient.
Any information welcomes,