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. Hinkkanen. Lipa’s Legacy: Proceedings of the Bers Colloquium, том 211 из Contemporary Mathematics, стр. 285–-295. Providence, RI, American Mathematical Society, (1997)