This is probably a dull question, but I can't find in the documentation.
Does Bullet have simple collision tests, like ray-sphere, cylinder-mesh etc, acessible without the need to create a "simulation", without callbacks, triggers and so on?
Thank you in advance.
Yes, you can just use btCollisionWorld for that. If you are only interested in collision detection, you only need Bullet/src/BulletCollision and Bullet/src/LinearMath folder.
Just to clarify: when using dynamics, btDynamicsWorld is derived from btCollisionWorld class.