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Please see HfFluidDemo.cpp for examples of how to use the height field fluid along with buoyant collision shapes. The implementation is still lacking in my ways: 1) Need to complete more collision algorithms for buoyant collision shapes 2) Support compound buoyant shapes 3) The buoyancy model isn't that great 4) Fluid volume can be lost over time
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. Discrete and continuous collision detection, integrated into Blender 3D, and COLLADA 1.4 Physics import. See the Bullet_User_Manual.pdf for more info and visit the Bullet Physics Forum at http://bulletphysics.com