Are there docs of how to integrate a physics engine into Godot? I have already wrapped DART in C#, so possible this would make things a little easier.
I saw that Andrea Catania recently integrated Bullet 3 in Godot 3. I would like to, instead, integrate DART (Dynamic Animation Robotics Toolkit) for robot simulation.
(Why? DART is a more accurate implicit time-step engine for my application which uses generalized rather than maximal coordinates. It's mainly for simulating multi-body articulations like robots arms, bodies, etc. Simbody has a similar approach).