Detect collision with bullet physics, to make a character controller

Question

I inherited from btCollisionWorld::ContactResultCallback but I really have no idea how to use this virtual function:

btScalar addSingleResult(btManifoldPoint& cp,
        const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0,
        const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1)

I thought about using btCollisionWorld::ConvexResultCallback instead but there is no method in btCollisionWorld to use it.

For now my only goal is to move a btCollisionObject around and detect collision with walls, to adjust the position and movement.

I would just need the collision normal, some collision point, or anything else...

Answer 1

Ok so in

btScalar addSingleResult(btManifoldPoint& cp,
    const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0,
    const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1)

btManifoldPoint& cp contains everything I'd need.

https://www.pybullet.org/Bullet/BulletFull/classbtManifoldPoint.html

My native language is not french and I still have quite some trouble understanding the meaning of the word manifold.