I too have found this book to be a welcome addition to the game physics programming literature. The opening chapter was a very reassuring review of the pitfalls awaiting anyone who writes a serious collision and dynamics engine - it's obviously written by someone who's been in the trenches (or knows well someone who has). And there are plenty of other very interesting chapters, with many useful details.
However, don't think that just by buying this book, for all that it is interesting, you'll get all you need to write a serious game physics engine. You've got much, much more to learn from other sources before much of what is presented here will make sense. And the chapter subjects don't even cover all the topics you'll need.
Furthermore, in common with a high percentage of other computer graphics books and conference papers, this book is not free of typographical errors. The chapter on quaternion joints for instance, has a lovely selection of typographical errors and physics errors, which will not be at all helpful to quaternion beginners, and the graphs are largely duplicates with modified labelling. And this is written by someone widely regarded as a world expert in the application of quaternions in computer simulation of dynamics systems (beware his PhD - it too is strewn with typos). Proof-reading, anyone?
Furthermore, despite joining the forum and asking for errata, updated diagrams, and the publisher-promised source code and demos, after almost a year and a half there is no sign of them. A very poor show on the part of the publishers and the authors, who just ignore requests for same on the forum. (The forum moderators are also allowing the forum to be filled up with spam).
So, nice overview, some nice details, but like everything else in computer graphics, it's more inclined to attempt to impress and intimidate than educate and elucidate. Buy this, but be prepared for much, much background reading.
