• C++ oriented.
• Extensible design.
• Collision detection algorithm for concave shapes in the Bullet Physics Engine. See btGImpactCollisionAlgorithm.
• Efficient Dynamic Hierarcht Bounding Box tree structures for handle collisions with composed shapes whose have large sets of primitives (triangles or convex shapes) See the GIM_BOX_TREE_SET class.
• Collision detection for trimeshes with the btGImpactMeshShape class. Now GIMPACT works fine with the btStridingInterface class for getting the data from trimesh models.
• Support for deformable trimeshes.
• Collision detection for compound shapes through the btGImpactCompoundShape class. This class takes advantage from the Hierarcht Bounding Box structure (GIM_BOX_TREE_SET class).
• Collision Shapes (Both btGImpactCompoundSape and btGImpactTrimeshShape ) can be shared by two or more Rigid Bodies in Bullet.

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