I'd like to use some of bullet's lower level collision detection functions to collide a box shape (btBoxShape) with a trimesh shape (btBvhTriangleMeshShape). In the demo called "CollisionDemo", a box-to-box collision is done, but the functions/classes used seem specific to convex-convex collision. What should I use to do the convex-concave (box-trimesh) collision test?
Alternately, by looking in the btCollisionWorld::performDiscreteCollisionDetection implementation, I thought I might be able to create my own btOverlappingPairCache that just has the box and trimesh I'm interested in, and then do something like:
Code: Select all
my_bt_collision_world->getDispatcher()->dispatchAllCollisionPairs(my_pair_cache,getDispatchInfo());
This would allow me to use my already existing handler logic for looking at the collision manifolds.
Do either of these ideas sound like the Right Way to do this?