Implementing physical simulations for real-time games is a complex task that requires a solid understanding of a wide range of concepts from the fields of mathematics, physics, and software engineering. This book is a gems-like collection of practical articles in the area of game physics. Each provides hands-on detail that can be used in practical applications. The chapters cover topics such as collision detection, particle-based simulations, constraint solving, and soft-body simulation. An introductory section provides the mathematical foundations and offers some background for the problems inherent in successful physics simulation. The contributors write based on their experience in developing tools and runtime libraries either in game companies or middleware houses that produce physics software for games on PCs and consoles.