My name is James Park, I've been taking a look at Bullet for the last two days in relation to performing queries on a static world. We use Opcode currently and would like to switch to something that is more actively maintained. However, I've run into some problems. I have done the following:
- Create a btCollisionWorld.
Add a btBvhTriangleMeshShape to represent the static world.
- One that performs a sphere query (given centre and radius is there a collision with world geometry?)
A simple raycast.
A raycast that returns a normal and hit point.
- Make a btCollisionObject and assign a btSphereShape of the given radius (this sphere is used for every test as the radius never changes).
Call btCollisionWorld::performDiscreteCollisionDetection().
Check for collision pretty much exactly as is done in the CollisionInterfaceDemo.
I guess my question boils down to - what is the most optimal way I can do a sphere collision test on a world mesh (optimal in the sense of speed, I don't care at all about memory).
Thanks.