The uncompromising truth about this book.
You will not build a Robust Commercial Grade Physics Engine with this book
(2nd edition) without Additional work.
Reason, There are so many mistakes, errors, flawed codes and lacking of
supporting maths at later pages. It's unprofessional! Over 90 pages in this book have errors and flaw codes of some sort. It's unbelievable that all those professional rewiewers of the 1st edition did not spot the mistakes in this book before it went to press.
You will need to download and read the full listings of the code and demo code to understand how the engine is put together. But unfortunately some of the code written in the book is missing from the full listing (the latest download) One of many examples, page 330 of the 2nd edition.
It possible to build a limited physics engine without reading the full listing and just read the book alone, but you will not understand how certain elements are put together, thus compromising developing a better engine than if you did.
This book is badly organised just like its source code taken from different sources.
The evidents is in the code itself, in the book as well as in the full listing.
Conclusion,
Be aware that this is a Badly organised book, flaw codes, full of errors, lacking supporting maths.
You are going to double your time in reading this book just to correct all the errors in it - this includes the appendix.