Bullet User Manual 第一部分，参见 bullet3/docs/Bullet_User_Manual.pdf

---

总体上概述了 Bullet 物理引擎的功能及特征。

Bullet 物理引擎主要用于游戏、视觉效果仿真、机器人仿真等。
The library is primarily designed for use in games, visual effects and robotic simulation.

Bullet 物理引擎的主要特征/功能有：

• 离散/连续碰撞检测 Discrete and continuous collision detection
  Discrete and continuous collision detection including ray and convex sweep test. Collision shapes include concave and convex meshes and all basic primitives

• 刚体仿真
  Maximal coordinate 6-degree of freedom rigid bodies (btRigidBody) connected by constraints (btTypedConstraint) as well as generalized coordinate multi-bodies (btMultiBody) connected by mobilizers using the articulated body algorithm.

• 约束求解等
  Fast and stable rigid body dynamics constraint solver, vehicle dynamics, character controller and slider, hinge, generic 6DOF and cone twist constraint for ragdolls

• 软体形变仿真 Soft Body
  Soft Body dynamics for cloth, rope and deformable volumes with two-way interaction with rigid bodies, including constraint support

• 其他