My implementation of convex cast wheels is progressing, but I now have big problems with the result of convexSweepTest() for static grounds that are made of btBvhTriangleMeshShape. With fixed convex shape (bounding box, or plane), the convex sweep detect the ground correctly, but when the ground is made of concave shape, the convex sweep has a lot of misses. It seems to detect the floor randomly. At first I thought that my destination transform was not low enough, but that's not the problem. I really don't understand, because when I debug draw the ground concave shapes, they all looks good (I know it is not a strong argument...but just in case).
As a second problem, I also noticed that the convexSweepTest() doesn't detect anything at all when I tried use a btCompoundShape for that casting shape (a torus made of multiple spheres for each of my wheels). But normally I use a real torus for my wheels, and I still get the first problem I was mentionning in the precedent paragraph.
Is there an issue or a trick that I should know of with the convexSweeptest() when dealing with concave shapes or is this sweep test only able to sweep through the other convex shape of the world?
Thanks.
A bit despaired Verbo
