Rigid Body Dynamics is the movement and interaction of solid, inflexible objects
A rigid body is a solid that cannot deform, such solids do not exist in the real world; Rigid body is a useful model of physics for game developers that simplifies study of dynamics of solids where deformation can be neglected
Rigid bodies are continuous hence are calculated with integral instead of finite sum:
- r - position vector of each point
- function that gives density at each point
Rigid bodies can only rotate on the axis that points out of the screen,
Unit that’s used here is radians, this is for simplifying calculations