Game Physics Engine Development : How to Build a Robust Commercial-Grade Physics Engine for your Game (Hardcover, 2 ed)

Introduction. Particle Physics: The Mathematics of Particles. The Laws of Motion. The Particle Physics Engine. Mass Aggregate Physics: Adding General Forces. Springs and Spring-Like Things. Hard Constraints. The Mass Aggregate Physics Engine. Rigid-Body Physics: The Mathematics of Rotations. Laws of Motion for Rigid Bodies. The Rigid-Body Physics Engine. Collision Detection: Collision Detection. Generating Contacts. Contact Physics: Collision Resolution. Resting Contacts and Friction. Stability and Optimization. Putting It All Together. Further Topics in Physics: Physics in Two Dimensions. Other Programming Languages. Other Types of Physics. Appendices: Useful Inertia Tensors. Useful Friction Coefficients. Mathematics Summary