Physics Simulation Forum

I only use Bullet for mouse picking of objects, I don't even link to the dynamics library. I have a collisionWorld and some collisionObjects, some of the collision objects move sometimes and when they do I call collisionWorld->updateAabbs(). The only query I do to bullet is collisionWorld->rayTest().

Now, I suppose that BulletCollisions is doing some calculations behind the scenes that are unnecessary to me, because I don't care about between-object collisions, only about raytesting. My question is, is there anything I can do to optimize bullet in this scenario? I can make some guesses but I would prefer to have definitive advice from an expert.

Thanks in advance.