RAPID is a very small and easy to use library, and we want to keep it that way. Future releases will mostly include bug fixes, but we may add the following features as time permits - provided they don't make the library difficult to use or maintain:

• Lazy tree building option. Rather than precomputing the hierarchy before performing any collision queries, compute the hierarchy on-the-fly, as it is needed. For collision sequences in which only a small part of the model will be traversed during collision queries, this can save considerable time and memory. This will often be good for "one-shot" queries, where there is no motion sequence, but just a single query.

• Changes in the interface: just on principle, we'd like to eliminate the use of global variables in our library.

• We may support distance estimation some day.

• Support for client control of quality/speed tradeoffs.

• Support for client control of memory/speed tradeoffs.