If you need tunneling prevention, one option is to use the CCD motion clamping in btDiscreteDynamicsWorld. See also Bullet/Demos/CcdPhysicsDemo. You can use an embedded sphere that prevents tunneling, using the following settings: body->setCcdMotionThreshold(0.5); body->setCcdSweptSphereRadius(0.9f); Add a camera zoom setting for the demos, thanks to ejtttje, fixes Issue 543