zero-distance convexSweepTest

[orange]

Is there any reason why the world::convexSweepTest will not return any hit if the start and end position are the same ? I would expect this case to be considered like a simple query for everything touching the provided shape.

Is there a similar fonction to make a simple query with a specific shape, without the sweep?

(and with a shape as input, not a ghost)

[pico]

Hi,

i guess this is related to this issue:

Issue 253: Division by zero in btQuantizedBvh::walkStacklessTreeAgainstRay

[orange]

I also noticed that a convexSweepTest will only return hits if it is moving toward an object, not if it is moving away from an object.

For example if the sweep starts inside a sphere, moving away from the center it will not return any hits. This behavior becomes ambiguous for zero-distance sweeps.

[sparkprime]

You probably want to do a proper collision test instead of a sweep

some info here: http://www.bulletphysics.com/Bullet/php ... ithm#p9837