Welcome to the Dubious Engine. This series of blog posts is my attempt to fully explain how to write a basic Physics Engine. The full source is available at: https://github.com/SaintDubious/DubiousEngine

Table of Contents

1. Introduction
2. See Also: References
3. Math
   1. Points and Vectors
   2. Vector Types
   3. Vector Math
   4. Rotations
   5. Using Types to Your Advantage
   6. Coordinate Systems
4. Physics
   1. Linear Motion
   2. Angular Motion
5. Collision Detection
   1. Collision Detection – GJK 1
   2. Collision Detection – GJK 2
   3. Collision Detection – GJK 3

That’s all for now. Writing these takes time, so it might be a while, but here are some other ideas:

1. Collision Detection – EPA
2. Collision Detection – Contact Manifolds
3. Collision Response – Constraint Solver
4. Collision Response – Friction
5. Broad Phase Collision Detection
6. Cheats – Baumgarte and Coefficient of Restitution
7. Cheats – Warm Starting
8. Optimization – OpenCL