i am using the bullet collision detection exclusively for triangle meshes. More specifically the GImpact Algorithm.
From the tutorials on the bullet wiki i can deduce how to perform the collision tests and hot to get the contact coordinates.
Now my question is: is there a possibility to get the collided vertex/triangle indices and in case the according barycentric coordinates?
regards
Code: Select all
btCollisionObjectWrapper wrap_(NULL, s_.shape(), s_.obj(), s_.obj()->getWorldTransform());
btCollisionAlgorithm* algo = m_dispatcher.findAlgorithm(&wrap, &wrap_);
btManifoldResult contactPointResult(&wrap, &wrap_);
algo->processCollision(&wrap, &wrap_, info, &contactPointResult);
btManifoldArray manifoldArray;
algo->getAllContactManifolds(manifoldArray);
for (int i(0); i < manifoldArray.size(); ++i) {
btPersistentManifold* manifold = manifoldArray[i];
int n_con = manifold->getNumContacts();
for (int j(0); j < n_con; ++j) {
btManifoldPoint& pt = manifold->getContactPoint(j);
btVector3 a_ = pt.getPositionWorldOnA();
btVector3 b_ = pt.getPositionWorldOnB();
btVector3 f_ = pt.m_normalWorldOnB;
// VERTEX/TRIANGLE INDEX ??
}
}