Nice summary
(last update 27.November 2007 13:27)
In this paper you will find very brief and clean summary of all basic things related to rigid body simulation.
Source code included.
Chris Hecker's articles
(last update 12.December 2007 22:30)
Probably to best articles to start with when you want to learn something about rigid body dynamics. It does not go into very deep theoretical details, but it should be clear enough to be understood by most of programmers.
Rigid Body Simulation I
(last update 6.December 2007 17:36)
Part from a Siggraph '97 course.
Advanced math needed, however it is explained very clearly!
Nonconvex Rigid Bodies with Stacking
(last update 26.November 2007 21:49)
Interesting thing in this paper is that it supports nonconvex bodies, because most of the methods used assume all bodies are convex so they can optimize more.
It shows how to detect collision, simulate correct friction and solve stacking problems (using shock propagation).
This approach was implemented in JigLib library.
Stable Rigid/body Physics
(last update 19.December 2007 10:19)
How to deal with stability(numerical and physical) issues when doing computer simulation.
More like an introduction to the problem.
Deriving constraint equation
(last update 15.April 2008 21:34)
There is discussion about how to derive an equation needed by a constraint solver. You come to this problem when you want to simulate joints.
Ghosts and Machines: Regularized Variational Methods for Interactive Simulations of Multibodies with Dry Frictional Contacts
(last update 15.February 2009 13:1)
I took few interesting ideas from this thesis, but generaly it is very math heavy to allow me to go deeper.