Physics Simulation Forum

Hi

I am trying to detect collision between a primitive shape object (like sphere, cone, cylinder, etc) with triangular mesh object with the help of Concave Convex routine. I want to transform primitive object as well as triangular mesh (which I can do by using quaternions). I want to know what is the correct way of detecting collision for the above case? I have alsoattached a sample code which I was trying to test. I am also getting false every time for detecting collision between two objects.

Also if somebody can explain how collision detection was done in convex cast demo in bullet physics?

Can anyone please guide me through this?

Regards
Amrish Kumar