Thanks for advice Erwin.
I would like to use Bullet Collision Library, but I need fast CCD, which dynamically adjusts the required resolution. The performance is important for me, because I want to use it for simulation of robotic arm. If I understood well the CCD in Bullet Engine works just for checking between steps with constant delta time (resolution). And it must be set by something like that for selected rigid bodies:
#define CUBE_HALF_EXTENTS 0.5
btRigidBody* body = ....;
I would like to know how should be CCD used just in Bullet Collision library without the rigid body/soft body dynamics.
I found out quite interesting CCD library under BSD license: FCL - Fast Collision Library (Flexible Collision Library), url: http://www.ros.org/wiki/fcl
. So I'm investigating it now.