1. Fixed a bug in the ballsocket joint. It was not resetting the applied impulse when sim was reset. Also, I had to turn off sleeping on attached parts for it as well. When I did not then it would not reset correctly if it had fallen to sleep before sim was reset.
2. Got the ball socket test working for bullet.
Got the ball-socket conversion test working with bullet.
The universal joint in bullet simply does not work correctly. Even the slightest amount of force applied to the joint results in it blowing up. For the meantime, I have just swapped out the universal with a ball-socket. I will probably need to address this at some point, but for now it is a good enough approximation.
I got a version of the universal test working in bullet.
Fixed a few bugs in the conversion system that I found while trying to get the locust project to convert to bullet. Got the locust converted, but it is not running, and I am going to have to make some modifications to the meshes because it was using dynamic triangle meshes for the thorax.