Game physics engine development

1. Introduction I Particle Physics 2. The Mathematics of Particles 3. The Laws of Motion 4. The Particle Physics Engine II Mass Aggregate Physics 5. Adding General Forces 6. Springs and Spring-like Things 7. Hard Constraints 8. The Mass Aggregate Physics Engine III Rigid Body Physics 9. The Mathematics of Rotations 10. Laws of Motion for Rigid Bodies 11. The Rigid Body Physics Engine IV Collision Detection 12. Collision Detection 13. Generating Contacts V Contact Physics 14. Collision Resolution 15. Resting Contacts and Friction 16. Stability and Optimization 17. Putting It All Together VI Horizons 18. Other Types of Physics 19. A Physics Based Game A. Mathematics Summary B. Common Inertia Tensors C. Other Programming Languages D. References