SWIFT++ can be extended and added to in numerous ways. Likely, not all will be feasible or possible but future versions will hopefully comprise some. We are always looking for ways to improve SWIFT++. If you have any ideas of things we could add to the system that we have not mentioned here or in the Features in Detail section, please let us know.

There exists a pretty efficient computational geometry algorithm to determine what the penetration depth in a given direction is for a pair of convex polyhedra. However, it might be inefficient to do this for non-convex polyhedra.

The computation of exact penetration depth (over all directions) is an O(n^6) problem for a pair of non-convex polyhedra. It may be possible to make various approximations in order to be able to compute a minimum penetration direction and depth feasibly.

It may be possible to choose the bounding box type dynamically. Even if the extremal feature of an object never changes, the dynamic bounding box type must still do a considerable amount of work to update itself compared to the cube bounding box type. If the type could be determined at each frame, substantial savings may be procured. There is still the problem of reinitializing the dynamic box when it is needed. Another area of interest is applying a bound on the orientation change required to update the box' extremal vertices.

Allow a scene graph representation for multiple piece objects. In addition, have the option of detecting self-collision or not.