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I would like to program some rigid body physics but my maths is a lot rusty. (for example I have done differential equations at uni, but forgot everything)

I cannot quite seem to get my head around the equations in 3D, with simple euler method, and quaternions.

Any suggestions for learning material that includes exercises? Ideally lots of easy exercises with worked solutions.

I cannot quite seem to get my head around the equations in 3D, with simple euler method, and quaternions.

Any suggestions for learning material that includes exercises? Ideally lots of easy exercises with worked solutions.

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