All of of the topics covered in this book are used to progressively build a rigid body physics engine. The final three chapters (14, 15 and 16) implement particle physics, rigid body physics and soft body physics (cloth). An appendix is provided which briefly covers advanced topics and provides resources for exploring these topics.
This book is a comprehensive guide to the linear algebra and collision detection games commonly use, but only briefly touches on the topic of collision resolution (Physics). The book is structured as follows: