Under-the-hood docs?

[Maksym Riabov]

Sup Chrono,
Somewhat linked to https://groups.google.com/g/projectchrono/c/7pn2Yjl8ORg question.

I'm building an open-source solver just like Chrono, but operated on slightly different principles. 

Do you have some under-the-hood documentation on how Chrono is able to achieve good speed? Some important discussions on Github? 

I'm building a big thing alone and if there were sources of information on something like collision detection and response and stresses it would be great.

Thanks,
Maksym Riabov