1 A Brief History of the World: A Summary of the Topics
2 Basic Concepts
3 Rigid Body Motion
4 Deformable Bodies
5 Physics Engines
6 Physics and Shader Programs
7 Linear Complementarity and Mathematical Programming
8 Differential Equations
9 Numerical Methods
A Linear Algebra
B Affine Algebra
D Ordinary Difference Equations
A Summary of the Changes for the 2nd Edition:
Naturally, Chapter 1 (Introduction) will be rewritten based on the contents for the second edition.
The chapter on Physics Engines needs a significant rewrite. The goal will be to describe how to implement a classic rigid-body physics engine. And there will be source code to go with it, illustrating a generic collision detection system to go with the collision response people seem to associate with a physics engine. I will also include a new section on ragdoll physics, and there will be source code to go with this.
I plan on inserting a new chapter (chapter 6 below) that will contain descriptions of various papers of interest in game physics. In particular, I will review publications by Ronald Fedkiw, Jos Stam, and James O'Brien, choosing a few of each to describe and to implement in source code and include on the CDROM for the book. This new material fills the void in the 1st edition - not much discussion of applications of particle systems, fluids, or gases. The chapter on shader programs (old Chapter 6) will be discarded in its entirety.
Chapters 7 through 10 and Appendices A through D form the mathematical heart of the book. The appendices are effectively background m