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...
My derviation for the derivative of the rotation matrix is based on theirs.

Physics, Part 1: The Next Frontier
https://chrishecker.com/Rigid_Body_Dy...
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
   • Zelda & Chill 3  

Thank you ‪@MikelTBE‬ for letting others use your amazing songs.
I love listening to your Zelda & Chill albums while working on my projects.

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