Real-Time Physics Simulation Forum

Hi, I'm relatively new to bullet and I'm using it for collision and closest point detection for primitive shapes. This might be a simple or stupid question, but is there a built-in function to check if a point is on a primitive box surface, edge, or corner?

I use GJK to find the closest point and addSingleResult() for collision. I could sample around the points contacts and estimate the local geometry with the normal vectors. But I think there should be something simpler.