References

The following articles and videos are a good place to start.

Moment of Intertia

• What is a tensor
• Inertia Tensor
• The Inertia Tensor for a Cube
• Why is inertia tensor called a tensor as opposed to matrix
• Relation between torque and moment of inertia

Jacobian

• Jacobian prerequisite knowledge
• Local linearity for a multivariable function
• The Jacobian matrix
• Computing a Jacobian matrix
• The Jacobian Determinant
• Gradient
• Gradient and graphs
• Directional derivative
• Directional derivatives and slope
• Why the gradient is the direction of steepest ascent
• Gradient descent, how neural networks learn | Chapter 2

Integration

• Integration Basics
• Fix Your Timestep!
• Physics for Game Programmers: Understanding Constraints

Constraint Optimization

• Constrained optimization introduction
• Lagrange multipliers, using tangency to solve constrained optimization
• Finishing the intro lagrange multiplier example
• Lagrange multiplier example, part 1
• Lagrange multiplier example, part 2
• The Lagrangian
• Meaning of Lagrange multiplier
• Proof for the meaning of Lagrange multipliers

Constraint Solver

• Physics for Game Programmers: Understanding Constraints
• Game Physics: Resolution - Constraints & Sequential Impulse
• Equality Constraints
• Position Correction
• Soft constraint derivation

Collision Detection

• SAT (Separating Axis Theorem)
• Collision Detection Using the Separating Axis Theorem
• Gilbert–Johnson–Keerthi distance algorithm
• A Strange But Elegant Approach to a Surprisingly Hard Problem (GJK Algorithm)
• How does a collision engine work?