I built up a physics system through a number of stages, starting with simple particles and ending with complete collision responses with complex 3d models. Much of the work from this was built on the book "Real-Time Collision Detection" by Christer Ericson, "Physics Based Animation" by Kenny Erleben et al and Pixar's Physics SIGGRAPH 2008 workshop.
Stage 1: Particles
Stage 2: Rigid Bodies
Stage 3: Collision Detection
Stage 4: Collision Response
For a full description please visit
http://www.dermothayesmccoy.com/physicssimulation.html
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