Specifies which constraint solver Bullet will use to resolve collisions and constraints. Both solvers parallelize the workload, but differ in the strategy they use to do so. Parallel Gauss-Seidel (Islands) will be faster in cases that involve many small “islands” of interacting objects (for example, a large number of small separate book stacks), whereas Parallel Gauss-Seidel (Graph Coloring) should perform better when such “islands” are few and large (such as a huge collapsing building).

Although results obtained with these solvers will generally not be identical, qualitative differences should be minor.

Allows the constraint solver to terminate before performing the full number of Constraint Iterations if it is close enough to the solution. Larger values can increase performance at the cost of accuracy.

Specifies that the constraints should be randomly reordered before each of the Constraint Iterations. This may improve stability, but incurs a minor performance hit.

Specifies that the solver should ensure that changes to an island of interacting objects (including adding, removing, or repositioning objects) do not cause other islands to produce different simulation results, unless those changes cause the objects to interact. Otherwise, the solver only guarantees that resimulating with the exact same input to the solver will produce the same results. Enabling this option may incur a minor performance hit, and may change the simulation results slightly.

Increasing the CFM (constraint force mixing) parameter will make contact constraints softer, and may increase the stability of the simulation. Contact constraints may be violated by an amount proportional to this parameter times the force that is needed to enforce the constraint.

Specifies what proportion of the constraint error for contact constraints will be fixed during the next simulation step. If ERP (error reduction parameter) is set to 0, constrained objects will drift apart as the simulation proceeds. If ERP is set to 1, the solver will attempt to fix all constraint error during the next simulation step (however, this may result in instability in some situations). A value between 0.1 and 0.8 is recommended for most simulations.

Tries to make interpenetrating objects split without adding velocity (to keep objects from explosively flying apart).

Errors when solving positional and velocity constraints can introduce some extra energy to the system. Although this option removes most of the extra energy, it degenerates quality a little bit, in particular for stable stacking.

Split Impulse only applies when objects interpenetrate by more than this distance. This number should be negative (representing less than 0 distance between the objects).

Overrides the Error Reduction Parameter for contact constraints where the penetration distance is within the Penetration Threshold and Split Impulse is enabled.