I'm new to Bullet and looking for some direction to start with the following problem:

I would like to calculate how objects fit together as fast as possible without dynamics. Like when you snap an object to a surfuce in most CAD programs. Constraints are:

- Rigid objects
- In the end position the object is stable (supported by 3 points or more)
- Object can rotate round its center
- Object can not move sideways (only going down)
- Gravity is in the center of the object

I would like to use this to iterate the object over a surface to find the position where it is laying as flat as possible. I'm curious if Bullet is the right tool for the job, since I don't need to simulate the whole trajectory but I just wan't to iterate over the terrain and get the end positions as fast as possible.

Can anyone tell me where to start with the Bullet library (or any other library) for this problem?