Deriving 3D Rigid Body Physics and implementing it in C/C++ (with intuitions)

I explain all the derivations necessary to understand the basics of 3D rigid body physics intuitively and show how I implemented them from scratch in C/C++. Links to the listed references Physically Based Modeling https://graphics.pixar.com/pbm2001/ or for a combined pdf https://graphics.stanford.edu/courses/cs448b-00-winter/papers/phys_model.pdf My derviation for the derivative of the rotation matrix is based on theirs. Physics, Part 1: The Next Frontier https://chrishecker.com/Rigid_Body_Dynamics I had the idea to derive the linear motion of the rigid body from the linear momentum as a result of reading his first article. Outro music https://www.youtube.com/watch?v=nkNreNOpVUs&t=1304s Thank you @MikelTBE for letting others use your amazing songs. I love listening to your Zelda & Chill albums while working on my projects. Game libraries so far: SDL (windowing, input/event handling, audio) glad (loading OpenGL functions) Dear ImGUI (debug gui) stb image (image loading) 0:00 Intro 1:20 Rigid body model 2:30 Mass computation 5:24 Linear motion 9:29 Linear motion implementation 1 10:56 Explicit Euler integration 14:35 Linear motion implementation 2 16:42 Rigid body orientation 18:39 Angular velocity 23:34 Angular velocity implementation 23:59 Angular momentum 30:11 Inertia intuition 36:12 Angular motion implementation 38:49 Results and comparisons 41:15 The end #physics #simulation #gamedev