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Continuous sweeps do not detect hits unless body0 and body1 penetrate more than allowedCcdPenetration. This is to allow sliding objects (characters) where otherwise any contact would result in TOI = 0. If objects penetrate deeper than allowedCcdPenetration at the start of the sweep, a TOI=0 is reported, unless the motion will separate the objects. Secondly, a reportFailure method is added to CastResults, to handle failures gracefully (in case max iterations of conservative advancement is reached etc)
Bullet is a 3D Collision Detection and Rigid Body Dynamics Library for games and animation. Free for commercial use, including Playstation 3, open source under the ZLib License. See the Bullet_User_Manual.pdf for more info and visit the Bullet Physics Forum at http://bulletphysics.org