Only Collision Detection given initial and final position

[SamPhl]

Hi All,
I am fairly new to Bullet Physics and I am trying to use BulletCollision library to check for collisions for driving a robotic machine, before making the actual motions. After modelling the different parts of the machine using different btShapes (lets say 2 or more btBoxShape) in a collisionWorld I want to give the final position of an object and have Bullet tell me, if there is going to be collision with another object which might be in the way and where. Another approach, can I stretch the Object along any axis to a final position (centroid of the object) and see if the new stretched object will collide with other objects and where? Is it possible to do this?
I don't want to run StepSimulation or the Dynamics Engine, because of the time, memory and processor constraints of the machine.

Thank you