Physics is a part of games that has always amazed me. I find it funny how impossible it seemed to do correctly when I was younger. While making a custom game engine, it was finally demystified!
The full article: https://blog.winter.dev/2020/designing-a-physics-engine/
The background game demo: https://winter.dev/demo
T. Jeruzalski, E. Fiume, A. Jacobson, and D. Levin. Proceedings of the ACM SIGGRAPH / Eurographics Symposium on Computer Animation, page 26:1--26:2. New York, NY, USA, ACM, (2017)