Game Physics In One Weekend

Game Physics In One Weekend is the first book in a series on real time rigid body simulation. The book series is an informal introduction that guides the reader through the process of writing their own simulation. The primary lessons of the first book are focused on writing an impulse based physics simulation between spherical bodies. The second book concentrates on expanding the simulation to general convex shapes with the Gilbert-Johnson-Keerthi algorithm. And the third book introduces constraints to allow for stable stacking, ragdolls, and motors.