Discrete and continuous collision detection including ray and convex sweep test. Collision shapes include concave and convex meshes and all basic primitives 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. Fast and stable rigid body dynamics constraint solver, vehicle dynamics, character controller and slider, hinge, generic 6DOF and cone twist constraint for ragdolls Soft Body dynamics for cloth, rope and deformable volumes with two-way interaction with rigid bodies, including constraint support

following the ISO/IEC 9899:1999 standard, more commonly attributed to C99.