Where are the collisions are handled?

[shultays]

I am trying to handle collisions in a custom way, I want rigid bodies to get pushed away from the other collided correctly but I want them not to lose all kinetic energy they had.

The reason is I am trying to create rigid bodies that can be damaged, the side that hits the wall will be crushed for example. When a rigid body hits a wall, I want to absorb some of the kinetic energy change as a damage and reduce the deceleration of the rigid body that is caused by collision. In further frames, if rigid body were fast enough, it can hit the wall again and again and get further damaged. I can't do this in a single frame because as soon as a car hit a wall, it would lose half the body it had and it would look weird. Imagine a car hit a wall and getting crushed.

[shultays]

I think I found it

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btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations

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btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations

first solves the penetrations then in

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btSequentialImpulseConstraintSolver::solveSingleIteration

it computes the new velocities. So I think I can update m_tmpSolverContactConstraintPool between them to reduce effect of the impulses on velocities, am I doing this right?