A user by the name of NEO97 decided to start writing a 3D physics engine in Jai, and announced it in the Secret Beta discord. Having attempted this myself a few years ago, I thought I’d share a list of some of the resources I found invaluable during my journey.

There are so few high-quality physics resources on the web that we are able to personally honor each person who has put the time and effort into contributing something of value. As such, I will categorize these resources by author, in no particular order.

Allen Chou

ex-DigiPen student, works at Naughty Dog

https://allenchou.net/game-physics-series/

Randy Gaul

ex-DigiPen student, well-known physics educator and programmer

https://tutsplus.com/authors/randy-gaul
https://github.com/RandyGaul/qu3e

David Baraff

professor, early author of physics material

https://www.cs.cmu.edu/~baraff/sigcourse/notesd1.pdf
https://www.cs.cmu.edu/~baraff/sigcourse/notesd2.pdf
https://graphics.stanford.edu/courses/cs448b-00-winter/papers/phys_model.pdf

Chris Hacker

old-school GDC crew; creator of Spy Party

https://chrishecker.com/Rigid_Body_Dynamics

Glenn Fiedler

most well-cited physics/timing articles on the web; networking guru

https://gafferongames.com/categories/game-physics/

Eric Catto

creator of Box2D, also wrote the physics engine for Diablo 3

https://gdcvault.com/play/1020603/Physics-for-Game-Programmers-Understanding

Misc

Bullet Physics Forums

Absolute gold mine of physics engine history and resources

https://pybullet.org/Bullet/phpBB3/viewforum.php?f=4
https://pybullet.org/Bullet/phpBB3/viewforum.php?f=6

Position-Based Dynamics

This paper is also an interesting read for an alternative to impulse-based engines:
https://matthias-research.github.io/pages/publications/posBasedDyn.pdf

Summary

This is far from a complete list. I may update this as time goes by, or not. Such is life.