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Physics Engines

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Hi, so i've been working on and off with some physics code. While i think i understand the princibles of how to check for a collision and (more or less) how to respond, I'm having great problems trying to concieve and impliment a physics system that performs all the checks and responces in a timley manner. Can anyone recomment a book or website or whatever that explains how to go about implimenting some sort of physics engine?

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