This guy has some other really great articles if you search around his blog a bit. Here's few I have bookmarked. http://www.wildbunny.co.uk/blog/2011/04/06/ph

This guy has some other really great articles if you search around his blog a bit. Here's few I have bookmarked. http://www.wildbunny.co.uk/blog/2011/04/06/physics-engines-for-dummies/ http://www.wildbunny.co.uk/blog/2011/04/06/physics-engines-f... http://www.wildbunny.co.uk/blog/2011/04/20/collision-detection-for-dummies/ http://www.wildbunny.co.uk/blog/2011/04/20/collision-detecti... http://www.wildbunny.co.uk/blog/2011/03/25/speculative-contacts-an-continuous-collision-engine-approach-part-1/ http://www.wildbunny.co.uk/blog/2011/03/25/speculative-conta...