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Gazebo and bullet3 / other GPU options


I was wondering if there's any status on implementing bullet3 into Gazebo? I know it's a feature request that's pretty popular, but I was curious if there's any anticipated timeframe for it to be integrated?

To the point, I've tried building the experimental gazebo6 / bullet3 release that's about a year and a half old, but I've encountered a linking error I can't seem to resolve. In any case, I'd rather not rely on an old build of Gazebo.

That actually raises another question: Are there any robotics simulators out there that support GPU-accelerated physics? In the open source realm, it doesn't look like anything does, but I'm not well-versed in robotics sims...