Praise for 1st edition: "The first game physics book to emphasize building an actual engine...his book fills a gap by demonstrating how you actually build a physics engine." - Dave Eberly, President, Geometric Tools. "A competent programmer with sufficient mathematical sophistication could build a physics engine just from the text and equations--even without the accompanying source code. You can't say this about a lot of books!" - Philip J. Schneider, Industrial Light & Magic.
A practical guide to building physics engines for the math challenged