2fb686b937322ee9840e396c00154487f68f605b
(still not easy to modify the link structure of a btMultiBody -> You have to manually re-link parents, copying links around etc)
Bullet is a 3D Collision Detection and Rigid Body Dynamics Library for games and animation. Free for commercial use, including Playstation 3, open source under the ZLib License. See the Bullet_User_Manual.pdf for more info and visit the Bullet Physics Forum at http://bulletphysics.org
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