I have tried using contactTest with collision objects and it didn't work as expected, it crashed my application on the second call whereas contactTest worked well with rigid bodies.
Object Creation:
Code: Select all
btCollisionObject* col = new btCollisionObject();
col->setCollisionShape(shape);
col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
col->setWorldTransform(btTransform(rot, position));
dynamicsWorld->addCollisionObject(col);
Code: Select all
CollisionSensor callback;
dynamicsWorld->contactTest(col, callback);