One of the distinguished projects at the Department of Computing at Imperial College London is about real-time physics simulation, using the Bullet physics library as case study.
Ian Ballantyne wrote the following paper: http://www3.imperial.ac.uk/pls/portalli ... 673698.PDF
At a first glance it looks like an interesting read! Minor remark: Bullet btCompoundShape doesn't use the AABB tree acceleration structure of btOptimizedBvh yet, so compounds are assumed to only have a small amount of parts for now. The AABB tree is used for fixed 3d triangle meshes, unless you use GIMPACT compounds.
Erwin
Thesis using Bullet as case study
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Erwin Coumans
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