Discrete and continuous collision detection including ray and convex sweep test. Collision shapes include concave and convex meshes and all basic primitives Maximal coordinate 6-degree of freedom rigid bodies (btRigidBody) connected by constraints (btTypedConstraint) as well as generalized coordinate multi-bodies (btMultiBody) connected by mobilizers using the articulated body algorithm. Fast and stable rigid body dynamics constraint solver, vehicle dynamics, character controller and slider, hinge, generic 6DOF and cone twist constraint for ragdolls Soft Body dynamics for cloth, rope and deformable volumes with two-way interaction with rigid bodies, including constraint support

•Structured object oriented architecture •Smart pointers for automatic memory allocation management •Abstract factory, for runtime allocation of objects of any types •Parameters and algorithms dynamically configurable by files •Sophisticated logging mechanism with output in XML •Checkpoint mechanism for evolution recovery and results analysis •Population composed of multiple demes •History of best-of-run individuals for the whole population and for each demes •Population seeding from file •Master-slave model for parallel fitness evaluation