Bullet 2.18 contains some fixes related to recently introduced btMotionState and reported issues for static/kinematic (animated) objects.
Make sure to use btMotionState to synchronize/access the world transform of rigid bodies. See the Bullet Demos in 2.18 how to use this. Also use the btDiscreteDynamicsWorld::addRigidBody to add rigid bodies: this automatically updates the collision filter flags (avoiding static versus static collision detection)
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Bullet 2.18 released
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Erwin Coumans
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