Real-Time Physics Simulation Forum

A bit late replying, but I couldn't find this mentioned explicitly elsewhere on the web. So, yes, I'd like to second strangelet's answer. This paper: http://image.diku.dk/kenny/download/kelager.niebe.ea10.pdf states position based dynamics are used in Bullet. Awesome share @Benlansdell - Really hel...

I forgot the exact link but build new games actually published a full on guide about it. I'm sure if you Google it you'll find it.