Can I use bullet for simple AABB checks with other shapes?

[freyzor]

I have built an octree based map construct meant for robot world representation generated from sonar data.
I implemented various checks for octree nodes. Mainly AABB collisions with simple shapes such as frustums, spheres and such.

I am wondering if I can use bullet to do more complex check with AABB shapes while traversing my data structure like, for instance, trimesh collision checks.

I basically just need direct hit/miss checks for different collision shapes without necessarily doing a full swept bread/mid/narrow phase.

Does the bullet API support such queries?