How does bullet integrate non-collision forces?

[venzon]

Right now I use bullet for its collision detection only. I'm considering using bullet for dynamics simulation, but I have some questions. It seems like bullet's dynamics simulation is geared toward collision response, and it's up to the user to apply any other forces, which bullet sums with the collision response forces and then does some integration. Is this correct? If so, then for the forces applied in this way, is bullet doing explicit Euler integration, or something fancier (maybe symplectic Euler...)? Similarly, for torques applied in this way, how does bullet integrate them?

Thanks.

[ola]

http://www.bulletphysics.com/Bullet/php ... f=9&t=1869