Advanced Character Movement

[digitalgibs]

I have some questions about 'btKinematicCharacterController' and how to make it react appropriately.

Currently I am using it as defined in the Character Demo, but I have several problems. In my simulation, I have several dynamic objects, but not all objects will interact with each other equally.

1. I want (human) characters to pass through each other but still be able to stand on boxes.
I looked into the addCollisionObject() filtering options but they aren't advanced enough for me to set the filtering logic I need. Is there a way to assign blind data to a collision object and register some kind of custom callback instead of a hard coded filter mask?

2. I want to get information about the surface I am standing on to play appropriate footstep sounds.

3. I want to assign mass to my character so that a parking cone doesn't stop me in my tracks, and instead "kicks" the cone away.

Help!

[digitalgibs]

Can someone at least tell me how to stop btKinematicCharacterController from causing rigid bodies to slide around regardless of their mass... It seems to be a penetration issue that causes the object to separate itself from the KINEMATIC character, but I'm having trouble finding the bug.