ID	Type	Status	Priority	Milestone	Owner		Summary + Labels	...
	22	Enhancement	Accepted	Medium	----	erwin.coumans		complete btContinuousDynamicsWorld
	25	Enhancement	Accepted	Medium	----	erwin.coumans		improve performance of raycast versus compound shapes
	27	Enhancement	Accepted	Medium	2.76	erwin.coumans		Provide solution to filter out unwanted collisions with internal edges of a triangle mesh.
	29	Enhancement	Accepted	Medium	----	erwin.coumans		Let user select wether to ignore penetration at the start or not, in time of impact queries
	31	Enhancement	Accepted	Medium	----	erwin.coumans		Enable/add Separating Axis Test (SAT) as alternative to GJK for convex polyhedra
	32	Enhancement	Accepted	Medium	----	erwin.coumans		Add early-out optimizations to Bullet GJK's voronoi simplex solver
	33	Enhancement	Accepted	Medium	----	erwin.coumans		Add Featherstone constraint solver for articulated systems
	42	Enhancement	Accepted	Medium	----	erwin.coumans		Add more doxygen documentation
	43	Enhancement	Accepted	Medium	----	john.mccutchan		Complete the Bullet C-API
	48	Defect	New	Medium	----	----		Constraints between static/kinematic bodies still require processing
	61	Defect	New	Medium	----	----		btCollisionWorld::convexSweepTest fails on convex meshes when transform1 = transform2
	90	Enhancement	Assigned	Medium	GDC2009	erwin.coumans		Glue / Fracture rigid bodies (based on btCompoundShape)
	100	Defect	New	Medium	----	----		Add btTransform::operator*(btQuaternion) method
	107	Defect	Accepted	Medium	----	erwin.coumans		Raycast test inaccurate/fails for large objects.
	110	Enhancement	Accepted	Medium	----	erwin.coumans		Apply coding style conventions to Bullet/src folder
	113	Defect	Accepted	Medium	----	erwin.coumans		Disable btQuickprof, to avoid compatibility issues
	114	Defect	Accepted	Medium	----	erwin.coumans		Add 'phantom' AABB overlap collector support + explosion demo
	140	Defect	Accepted	Medium	----	----		btQuaternion angle and slerp do not deal with redundancy in quaternion representation correctly
	141	Enhancement	Accepted	Medium	----	erwin.coumans		soft body contact callbacks and contact manifolds
	145	Enhancement	New	Medium	----	----		add isZero method to btVector3
	146	Defect	Accepted	Medium	----	erwin.coumans		Add option to choose internal rayTest method
	152	Enhancement	Accepted	Medium	----	erwin.coumans		Add Dantzig pivoting LCP constraint solver
	156	Defect	Accepted	Medium	----	erwin.coumans		Create a utility for btConvexHullShape to embed the collision margin.
	163	Enhancement	Accepted	Medium	----	erwin.coumans		Add soft body self-collisions
	177	Defect	Accepted	Medium	2.75	erwin.coumans		Improve constraint solver friction model and expose and document settings
	178	Defect	New	Medium	----	erwin.coumans		Cylinder shape does not correctly support local scaling
	181	Defect	New	Medium	----	john.mccutchan		btHeightfieldTerrainShape bugfix, and updated Character Demo
	187	Enhancement	Accepted	Medium	----	john.mccutchan		btFpuControl code review
	188	Defect	Accepted	Medium	----	erwin.coumans		Make btDbvtBroadphase deterministic and improve performance to remove batch of objects
	197	Defect	New	Medium	----	----		btKinematicCharacterController is halted by objects with no contact response
	198	Defect	Accepted	Medium	----	john.mccutchan		Character controller gets stuck and climbs walls
	203	Defect	New	Medium	----	----		maya linux plugin
	207	Defect	Accepted	Medium	----	erwin.coumans		Add debug visualization for btCollisionWorld
	214	Defect	New	Medium	----	----		Add the Index of the btCompoundShapeChild that gets hit when raytesting on a btCompoundShape to the RayResultCallback.
	221	Defect	Accepted	Medium	----	rponom		Fix and Extend BulletMayaPlugin
	223	Enhancement	New	Medium	2.76	erwin.coumans		btDbvtBroadphase::setAabb() does not handle correctly resizing of Aabb
	227	Defect	Accepted	Medium	----	erwin.coumans		Make applied impulse available for joints/constraints (it is only available for 'obsolete' joint impl. and contacts)
	228	Enhancement	New	Medium	----	erwin.coumans		Verbosity control for ColladaConverter
	230	Defect	New	Medium	----	----		btCapsule scales incorrectly with setLocalScaling
	232	Defect	New	Medium	----	----		Making many btRaycastVehicle functions virtual and expose calcRollingFriction() as a virtual function too
	234	Defect	New	Medium	----	----		There's a lot of warnings
	235	Defect	New	Medium	----	----		USE_BUGGY_SPHERE_BOX_ALGORITHM?
	236	Defect	New	Medium	----	----		Change collision flags variable type from short to long
	237	Defect	New	Medium	----	----		btQuaternion::angle returns nan in some (rare) cases (maybe btVector3::angle too)
	238	Defect	New	Medium	----	----		DebugDrawing enabling as a object property
	239	Defect	New	Medium	----	----		resolve compiler warnings. [LOW priority, have work around]
	240	Enhancement	Accepted	Medium	----	erwin.coumans		Create more tight AABB for axis-aligned btStaticPlaneShape
	241	Enhancement	Accepted	Medium	----	erwin.coumans		Make the Demos/BenchmarkDemo non-graphical by default
	242	Defect	New	Medium	----	----		Improvements to the CMake build system of Bullet 2.74
	243	Defect	New	Medium	----	----		Performance optimization with btDiscreteDynamicsWorld.cpp
	244	Defect	New	Medium	----	----		bodies get activated when colliding with NO RESPONSE set
	246	Defect	New	Medium	----	----		_btGpu_computeGridSize undefined in libBulletMultiThreaded
	253	Defect	New	Medium	----	----		Division by zero in btQuantizedBvh::walkStacklessTreeAgainstRay
	254	Defect	New	Medium	----	----		Dynamica Maya Plugin fails to load on Linux x86_64
	255	Defect	New	Medium	----	----		btConvexConvexAlgorithm optimization.
	257	Defect	New	Medium	----	----		Adjust Rotation-Translation Ratio / LinearFactor Has No Influence
	259	Defect	New	Medium	----	----		No assymetric collisions with masks
	263	Defect	Accepted	Medium	----	rponom		Integrative controller component to 6dof constraint solver (rough draft)
	266	Defect	New	Medium	----	----		[PATCH] CharacterDemo.cpp causes gcc warnings re. constness of char*
	268	Defect	New	Medium	----	----		[PATCH] Fix M_PI redefinition warning in ConstraintDemo.cpp
	270	Defect	New	Medium	----	----		btCylinderShape::getAabb and btCylinderShapeX::getAabb are returning the same bounding box
	271	Defect	Accepted	Medium	----	erwin.coumans		fix memory leak in multi-threaded demo
	272	Enhancement	New	Medium	----	----		Feature Request: Generate geometric decals
	274	Defect	New	Medium	----	erwin.coumans		new btUniformCompoundScalingShape to scale compound shape with convex children
	275	Enhancement	New	Medium	----	erwin.coumans		new convex hull implementation
	279	Defect	New	Medium	----	----		Incorrect/inconsistent color values in debug draw calls.
	280	Enhancement	New	Medium	----	----		Feature Request: More IDbgDraw virtual functions and minor draw improvments.
	281	Enhancement	Accepted	Medium	----	erwin.coumans		use acceleration structures for convexSweepCompound and rayTestCompound
	283	Defect	New	Medium	----	----		Seperate different products into seperate releases e.g. Bullet vs Extras
	287	Defect	Accepted	Medium	----	----		Patches and fixes against Bullet 2.75
	290	Defect	New	Medium	----	----		Vehicle maxSuspension force.
	292	Defect	New	Medium	----	----		btKinematicCharacterController passes through geometry if there AABBs match the actual shapes
	293	Defect	New	Medium	----	----		[Patch] Backward interpolation support
	296	Defect	Accepted	Medium	----	erwin.coumans		Add SPH fluid interaction with rigid body / cloth simulation
	297	Enhancement	Accepted	Medium	----	erwin.coumans		Add SPH fluid iso-surface generation
	301	Defect	New	Medium	----	----		Adding a auto constraint breaking feature enabled by boolean flag with break tolerance settings
	302	Defect	New	Medium	----	john.mccutchan		autogen makes broken config script
	304	Defect	New	Medium	----	----		restitution is depended on m_erp
	305	Defect	Accepted	Medium	----	erwin.coumans		convexSweepTest in 2D sometimes misses, due to simplex solver degeneracy
	306	Defect	New	Medium	----	erwin.coumans		COLLADA loader crash
	307	Enhancement	New	Medium	----	----		Normal support for triangle collision shapes
	308	Enhancement	Accepted	Medium	2.76	erwin.coumans		add (de)serialization into binary IFF-based chunk format
	310	Enhancement	Accepted	Medium	----	erwin.coumans		Better/faster support for large btCompoundShape in BulletMultiThreaded
	311	Enhancement	New	Medium	----	erwin.coumans		btCollisionWorld::rayTestSingle() does not support soft body
	312	Defect	New	Medium	----	----		SPU Support for btStaticPlaneShape
	320	Defect	New	Medium	----	----		Unicode bug in Win32ThreadSupport::startThreads()
	321	Defect	Accepted	Medium	----	erwin.coumans		Load-hit-stores in btUnionFind::find