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Build a physics engine

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Hi, I am developping a physics engine and I try to find the best way to develop that, how to implement it. In fact, I have a class mesh, a class particle, a class BBox. I have to develop a physical mesh which will store a mesh and a bbox. I would like to use the particle but I have to add the rotational movement. Moreover in the particle class, I have a function which do the collision detection tests with others polyhedrons. Any ideas to implement it?

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