I can even move my camera around in 3D space, and all that wonderful stuff using some maths from GLM (GL mathematics). I feel like a wizard.

I've set up a basic rendering engine. Practically godlike.

(I even have neat-o rendering effects like shadow maps and point lights and phong shading... Very cool stuff, lots of fun to code.)

I Have not delved into bullet physics yet, but what I need to know before implementing it is whether or not I will have to do any coordinate system conversions, and i'd like to get to know the quirks of converting from bullet to OpenGL BEFORE I start trying to render rigid body objects.

**For instance, Does bullet always provide a rigid body object's location from the origin of the coordinate system the collision shape was loaded in, or from barycentric coordinates?**

Do I have to load my convex collision hulls into bullet collision shapes (Just bunches of points) in barycentric (Center-of-Mass at origin) coordinates?

In essence, what coordinate system conversions do I need to do for 1) objects to be rendered at the right location in world space when I query a rigid body object's position and 2) objects to have the correct centers of mass

I'm also wondering how the inertia tensors for rigid bodies are generated. If the centers of mass are already computed for a given collision shape, I assume the inertia tensor would be too (Where the inertia tensor would assume uniform density based on whatever mass you picked for the shape)

Do I have to load my convex collision hulls into bullet collision shapes (Just bunches of points) in barycentric (Center-of-Mass at origin) coordinates?

In essence, what coordinate system conversions do I need to do for 1) objects to be rendered at the right location in world space when I query a rigid body object's position and 2) objects to have the correct centers of mass

I'm also wondering how the inertia tensors for rigid bodies are generated. If the centers of mass are already computed for a given collision shape, I assume the inertia tensor would be too (Where the inertia tensor would assume uniform density based on whatever mass you picked for the shape)

And one more thing.

Can I use multiple convex hulls for a bullet rigid body object's collision shape?

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I apologize deeply if my ignorance makes you cringe, All I know how to do is write OpenGL things right now (It's, like, the first visually beautiful thing i've ever done with C++... everything else makes text or files).

I very nearly wrote my own physics engine (As in, i have a rather extensive partial plan complete with pseudocode) to avoid having to learn an existing physics engine. this big batch of CPP files from the repository looks quite... ominous, and whenever I think for any length of time about trying to implement bullet my eagerness to smash my hands into this lovely piece of plastic fades, and I stop being productive, and I go back to doing drugs out the back of the local pub.