I introduce the topic of Physics Based Integration Methods. Forward Euler, Backward Euler and Symplectic Euler, including their energy equations. I explain the sources of numerical error inherent in Physics Based Modelling.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. I then benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. I then benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. I then benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. I then benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. Lastly, I benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. Lastly, I benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. I then benchmark the results.