In order to track some external data, I need to be able to detect collisions between kinematic objects during simulation. I realize that, for efficiency reasons, Bullet does not do this, so I'm happy to change my local copy to allow it. Do any of you experienced Bullet programmers have advice for where I should alter the BulletCollision library? I've done the simple thing and disabled or short-circuited every call to isStaticOrKinematicObject(), hoping that would force Bullet to detect the kin/kin collisions, but they are still dop not appear when I examine collsions in btSequentialImpulseConstraintSolver::setupContactConstrain.
Any help would be appreciated!