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Dear DART's developers,

Within the Pinocchio library, we would like to offer to the users the capacity to switch between various collision frameworks (ODE, Bullet, FCL, etc.). It appears that the way DART implements it is very smart and well adapted for this setup.

Would it be possible to externalize the collision detection module outside DART in order to let other libs relying on it, without necessitating to link to DART directly?

Thanks in advance for your reply, Best,

Justin @jmirabel This issue might be of your interest

Sorry for the late response. It'd find it useful, but I'm afraid that we may have not enough resources for the effort. Instead, I'd be happy to help to address the issues that make it difficult to use the collision APIs of DART for your use cases.