I’m not sure if it makes sense to switch to Bullet in a nearly entirely kinematic world:
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Yes, Bullet does have capsule collision shapes. But Panda3D has a built-in capsule shape too: CollisionTube
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I recall having hear drwr talk about ropes with Panda3D’s internal physics system. I might be wrong, but you could have a look at direct.showutil.Rope import Rope
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The KCC which comes with Bullet is exposed to Python, but it is very incomplete. I would not recommend setting up on the original Bullet KCC. Coppertop has done some work a new KCC for Bullet ( New Bullet Character Controller ), but I do not know what the current state is.
So if you feel like experimenting a bit you could check out coppertop’s KCC. If it works for you out of the box then I would consider switching. If not I would stick with what you already aleady have.
Bullet’s collision system and Panda3D’s internal collision system do not interact, so if you consider switching you will probably have to rewrite all your code which handles collision and interaction.