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First you should start learning newton physics and how to use them. make sure to learn different Solvers (Euler, mid-point, etc) this help you to have a stable simulator.

Then you should learn collision detection and responce. I am kind of new in physics as well so I cant give you more info.


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Well if you going to start by learning the physics and the collision first, believe you will die of natural cause before you are ready to make the simulation.
There is not shame on using a physic engine. Actually using a physics engine is very good way to learn physics programming.
Today’s physics engine technology is quite capable to reproduce game like pinball, balling, billiard pool, etc. with extremely high fidelity. Check out these sites:
http://www.bwmgames.com/bwmgames/include.php?path=content/overview.php&type=4&PHPKITSID
http://www.futurepinball.com/


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