usage of them? Any books recommended?
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/* Config */
struct Config
{
eAeroModel::_ aeromodel; // Aerodynamic model (default: V_Point)
btScalar kVCF; // Velocities correction factor (Baumgarte)
btScalar kDP; // Damping coefficient [0,1]
btScalar kDG; // Drag coefficient [0,+inf]
btScalar kLF; // Lift coefficient [0,+inf]
btScalar kPR; // Pressure coefficient [-inf,+inf]
btScalar kVC; // Volume conversation coefficient [0,+inf]
btScalar kDF; // Dynamic friction coefficient [0,1]
btScalar kMT; // Pose matching coefficient [0,1]
btScalar kCHR; // Rigid contacts hardness [0,1]
btScalar kKHR; // Kinetic contacts hardness [0,1]
btScalar kSHR; // Soft contacts hardness [0,1]
btScalar kAHR; // Anchors hardness [0,1]
btScalar kSRHR_CL; // Soft vs rigid hardness [0,1] (cluster only)
btScalar kSKHR_CL; // Soft vs kinetic hardness [0,1] (cluster only)
btScalar kSSHR_CL; // Soft vs soft hardness [0,1] (cluster only)
btScalar kSR_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only)
btScalar kSK_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only)
btScalar kSS_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only)
btScalar maxvolume; // Maximum volume ratio for pose
btScalar timescale; // Time scale
int viterations; // Velocities solver iterations
int piterations; // Positions solver iterations
int diterations; // Drift solver iterations
int citerations; // Cluster solver iterations
int collisions; // Collisions flags
tVSolverArray m_vsequence; // Velocity solvers sequence
tPSolverArray m_psequence; // Position solvers sequence
tPSolverArray m_dsequence; // Drift solvers sequence
};