Importing Blender models as trimesh shapes(Gimpact) ?

[meclory]

Hi,

I'm now making parts for my mechanism for a mechanical simulation. For example, I'm making front_leg.blend, rear_leg.blend, middle_leg.blend, and body.blend for an insect robot. One of the remaining works would be assembling the parts with constraints.

First, I have a question with respect to the assembling process.

In the MovingConcaveDemo, I can see that Bullet declared a trimesh shape(the famous Bunny trimesh) a rigid body. Then, I think that it will be possible to import various trimesh shapes and assemble them with joint constraints in Bullet environment.

So, my questions are:
1. Is it possible to import Blender models as trimesh shape? Is that process related to the COLLADA .dae importer?

2. How about assembling in Blender and importing that complete mechanism? Will it be more efficient to attach controller and take some control actions?

Thank you.