Hi, I am trying to make a bridge poser<->bulletphysics, mainly to make a posing assistant. I know that Poser already learned some physics tricks but I want to have something under my control ;) For the moment I am trying to translate a Poser figure to a set of chained rigidbodies, have them processed by bullet and translate this back into a pose of the figure. This is to enable gravity and having collisions with other body parts and props in the scene. I wonder if there is someone here who knows bullet internals a bit and might want to jump in.