Real-Time Physics Simulation Forum

Hi, I'm using raytrace for an obstacle avoidance function in 3D, but I'm having to use around 4-5 feelers to try and cover the boundary of the 3D object they're attached to. Does Bullet have a 3D method so I could project a 3D primitive (cube or cylinder with non-uniform scaling) to simplify the task and help with accuracy? I tried using a Kinematic body by disabling collision response and then do a sort of sensor test that returns the collided object, but I can't get the thing to rotate and believe I'm going about it the wrong way.

Any assistance would be helpful.

Nevermind, I got it working using a spherical convex sweep test. Out of curiosity, how expensive is this function compared to the multiple ray trace calls I was using before?

Sorry for providing a late answer, but you can simply use btClock to time the performance difference. Unfortunately Is do not know by how much it differs.