i have finished few constraints, (ball & socket, hinge and universal) fixed some collision bugs, improve stability and collision system.
with the new constraints i could start creating rag dolls (maybe next time),
to test the constraints i created simple rope simulation using few universal constraints, and some swinging light, real cool :)
i also added rigid body interactions with other entities like the bots and weapons.
for example: when we shot on a box, the box will be respond to the hit like a real box.
here is few videos that demonstrate the new features:
Skeleton of simple rope physics