: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25 Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
refactor read_node_transform to not automatically apply anything, but rather return the transform matrix, so caller can do with it what is necessary. Same for get_node_mat
Interact with dynamic objects, Ride kinematicly animated platforms properly More realistic (or maybe just a config option) falling -> Should integrate falling velocity manually and use that in stepDown() Support jumping Support ducking