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Description of  Game Physics Engine Development (with source code)

"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