Concave Convex cast collision detection

[amrishkum]

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. I have attached a sample code which I was trying to test.

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