Making a 2d rigid-body physics engine is a really fun project. I made one myself in javascript before learning about linear algebra. And I dug deep into the mat

Making a 2d rigid-body physics engine is a really fun project. I made one myself in javascript before learning about linear algebra. And I dug deep into the maths to get it working. Despite months of work, I barely scratched the surface beyond the widely known basics. Making a stable engine where objects don't compress into one another or jitter is a rabbit hole without a bottom that even the most math-heavy articles I could find rarely touched. I used a series of old articles by Christ Hecker to understand the maths myself. http://www.chrishecker.com/Rigid_Body_Dynamics http://www.chrishecker.com/Rigid_Body_Dynamics