i detected that raycasts and contact tests in bullet are not working well when rigid body is moving relativly not too fast.
And this is not problem of rendering/interpolating. You can observe that in bullet demo box2d by:
1. picking body
2. throwing it to set it some velocity
3. pause simulation (key "i")
4. try to pick moving body on pause (note that on non moving or slow moving is this possible)
is this known issue, or maybe there is work around to detect quite fast moving rigid body?