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
A. Fairén, J. Dohm, and V. Baker. EGS - AGU - EUG Joint Assembly, Abstracts from the meeting held in Nice, France, 6 - 11 April 2003, abstract \#3282, (April 2003)