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Good point. In most cases the basis in rayFromTrans is identity, so it doesn't matter. In the case of a compound shape, it could be an issue. I need to spend more time to review this. Thanks for bringing this up. |
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Bullet-2.83-Alpha:
btCollisionWorld::rayTestInternal():
there is default subSimplexConvexCaster used but USE_SUBSIMPLEX_CONVEX_CAST is not defined so normal is not rotated into worldspace (compare with btTriangleConvexcastCallback::processTriangle). Not sure -- is it bug?
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