I found this on the Bullet Physics Library list of FAQ, Christer Ericson's Realtime Collision Detection book. I'm adding it to my list of books to read.
http://bulletphysics.org/mediawiki-1.5.8/index.php/Documentation
http://bulletphysics.org/mediawiki-1.5.8/index.php/Frequently_Asked_Questions
http://www.continuousphysics.com/Bullet_Faq.pdf
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