Hi people!
I'm interested in learning how the Bullet Physics Engine works, the overall architecture of the Engine. Is there any detailed papers explaining the Engines design/structure and the maths used which I could read? I'm interested because I love Physics, I love Maths and I love programming... thus I would love to learn how this engine works, maybe once I do understand how it works I might even try making a Physics Engine of my own. Not just a replica of course, I'd add my own little charm and style to it but you get the point.
Any and All help is greatly appreciated.