How does the bullet deal with penetration.

[Xuhai.Tang]

It is know that Bullet is based on constraint approach and impulse based approach. The penetration will not happen theoretically.

But if the the penetration happened. How does the bullet deal with this problem?

In addition, how can I get the value of penetration from Bullet? What are the m_allowedPenetration and the m_penetration_depth in Bullet?

Thank you.

[Erwin Coumans]

Bullet has several options how to resolve penetrations. By default it uses Baumgarte post stabilization: it adjusts the target velocity so that the penetration will be resolved eventually.

As an alternative, it can resolve the penetration independent from the velocity, by keeping the position/penetration correction completely separate (split) from the velocity correction. This is called the 'split' impulse.

Thanks,
Erwin