sorry for the last response. This is really a great piece of code. I would not have thought that it is possible to write so much character functionality with so little lines of code. Congratulations.
About the “duplicate manifold points” problem, well, I don’t have much more insight than three weeks ago. It seems that this problem is gone when using Bullet 2.80. but I can not pin down the change in Bullet’s source code which is responsible for the effect. I think we should upgrade the buildbot machines to Bullet 2.80.