contactTest collision response

[David20321]

I can use the contactTest function to get all of the btManifoldPoints for the collision, but now I would like to figure out what the normal sliding collision response would be. This is useful for a lot of things that I want to simulate at a higher fidelity than the overall physics scene, like camera movement or character details. I've had pretty good results with spheres by just getting the point and normal for each collision point, and treating these as collision planes and pushing the sphere away from them. However, there are a number of edge cases where my method produces artifacts, which work fine in Bullet's collision response -- is there any way to find out what the collision response movement would be given a set of btManifoldPoints?