Anyway, this quick vid shows where I am at. The first two clips show G3D primitives which are synchronised with a sphere and cylinder collision shape respectively. In the second two clips you may be able to see some additional line geometry. This is implemented by a bullet debug drawer component which provides bullet with some G3D-compatible OpenGL drawing routines so it can draw its collision geometry directly – I was relieved to confirm that these match my own rendered geometry!
But it is evening here now so first I’m off to re-charge for a bit using a mixture of beer and curry – this is the UK equivalent of the US developer’s staple diet of coke and pizza.