Use proper rotation for computing local aabb for convex cast shape.

Propagate hit point from convex caster to world callback [work in progress].

src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp

@@ -174,6 +174,7 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 					result.m_fraction = lastLambda;
 					n = pointCollector.m_normalOnBInWorld;
 					result.m_normal=n;//.setValue(1,1,1);// = n;
+					result.m_hitPoint = pointCollector.m_pointInWorld;
 					return true;
 				}
 				c = pointCollector.m_pointInWorld;		
@@ -189,6 +190,7 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 
 		result.m_fraction = lambda;
 		result.m_normal = n;
+		result.m_hitPoint = c;
 		return true;
 	}
 

src/BulletCollision/NarrowPhaseCollision/btConvexCast.h

@@ -50,6 +50,7 @@ public:
 		virtual ~CastResult() {};
 
 		btVector3	m_normal;
+		btVector3   m_hitPoint;
 		btScalar	m_fraction;
 		btTransform	m_hitTransformA;
 		btTransform	m_hitTransformB;

src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp

@@ -148,6 +148,7 @@ bool	btGjkConvexCast::calcTimeOfImpact(
 					//degeneracy, report a hit
 					result.m_fraction = lastLambda;
 					result.m_normal = n;
+					result.m_hitPoint = pointCollector.m_pointInWorld;
 					return true;
 				}
 				c = pointCollector.m_pointInWorld;			
@@ -165,6 +166,7 @@ bool	btGjkConvexCast::calcTimeOfImpact(
 		
 			result.m_fraction = lastLambda;
 			result.m_normal = n;
+			result.m_hitPoint = c;
 			return true;
 		}
 	}

src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp

@@ -118,7 +118,7 @@ btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape*
 void
 btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
 {
-		btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
+	btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
 
 	btVoronoiSimplexSolver	simplexSolver;
 
@@ -148,7 +148,7 @@ btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId,
 				castResult.m_normal.normalize();
 
 				reportHit (castResult.m_normal,
-							btVector3(6,6,6),
+							castResult.m_hitPoint,
 							castResult.m_fraction,
 							partId,
 							triangleIndex);