ID	Type	Status	Priority	Milestone	Owner		Summary + Labels	...
	22	Enhancement	Accepted	Medium	2.76	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
	52	Enhancement	Accepted	Medium	----	erwin.coumans		Improve btCompoundShape collision detection performance
	61	Defect	New	Medium	----	----		btCollisionWorld::convexSweepTest fails on convex meshes when transform1 = transform2
	73	Defect	New	Medium	----	----		btMotionState callbacks are called far too often
	75	Defect	New	Medium	----	----		Jamfile bug
	82	Enhancement	New	Medium	----	----		WIKI: assorted bugs
	90	Enhancement	Assigned	Medium	GDC2009	erwin.coumans		Glue / Fracture rigid bodies (based on btCompoundShape)
	96	Defect	New	Medium	----	----		setLocalScaling has no effect on compound shape
	98	Defect	New	Medium	----	----		Floating point errors cause btQuaternion.angle(Quaternion) to return nan
	100	Defect	New	Medium	----	----		Add btTransform::operator*(btQuaternion) method
	101	Defect	New	Medium	----	----		quatRotate() sometimes return NaN values
	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
	112	Defect	Accepted	Medium	----	erwin.coumans		Update IBM Cell SDK SPU Makefile, to enable SPU optimizations
	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
	128	Defect	New	Medium	2.76	erwin.coumans		Provide access to list of active objects
	140	Defect	New	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	2.76	erwin.coumans		Add Dantzig pivoting LCP constraint solver
	156	Defect	Accepted	Medium	----	erwin.coumans		Create a utility for btConvexHullShape to embed the collision margin.
	157	Defect	New	Medium	----	----		btMatrix.setEulerZYX takes arguments in order X, Y, Z
	163	Enhancement	Accepted	Medium	----	erwin.coumans		Add soft body self-collisions
	174	Defect	New	Medium	----	----		[PATCH] CMake project doesn't install libraries in correct destination directory
	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
	189	Defect	New	Medium	----	----		cmake and autotools don't built libraries with the same names
	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
	210	Defect	Accepted	Medium	----	rponom		Constraints between fixed and dynamic objects are too soft
	211	Enhancement	Accepted	Medium	----	erwin.coumans		generating bending constraints takes a lot of time. Add acceleration structure to speed it up
	213	Defect	Accepted	Medium	2.75	----		btTriangleIndexVertexArray has problems with double precisiom mode and single-precision meshes
	214	Defect	New	Medium	----	----		Add the Index of the btCompoundShapeChild that gets hit when raytesting on a btCompoundShape to the RayResultCallback.
	217	Defect	Accepted	Medium	2.75	rponom		Problem when constraint angle limits are close to -PI or PI
	221	Defect	New	Medium	----	erwin.coumans		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
	229	Defect	New	Medium	----	----		Ray cast hit normal wrong when hitting rotated meshes in a compound shape
	230	Defect	New	Medium	----	----		btCapsule scales incorrectly with setLocalScaling
	231	Defect	New	Medium	----	----		Dynamica Maya Plugin Fails to compile on Mac and Win32
	232	Defect	New	Medium	----	----		Making many btRaycastVehicle functions virtual and expose calcRollingFriction() as a virtual function too
	233	Defect	New	Medium	----	----		Need to unix-ify line endings on install-sh.
	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
	245	Defect	New	Medium	----	----		Broken Demo compilation under linux (or any system with filename case sensitivity)
	246	Defect	New	Medium	----	----		_btGpu_computeGridSize undefined in libBulletMultiThreaded
	247	Defect	New	Medium	----	----		CMakeLists.txt out of sync
	248	Defect	New	Medium	----	----		INSTALL file insufficient