Game Physics Engine Development: How to Build a Robust Commercial-Grade Physics Engine for your Game
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.