Using existing physics libraries: Newton

CS 480 Lecture, Dr. Lawlor

Newton is a small, closed source but cross-platform physics library.  You can download an SDK for Windows, Mac, or Linux.

Broad categories of stuff in Newton (and almost any physics library):
One rather odd aspect of Newton is the "ForceAndTorqueCallback".  This is a function you write and then attach to your Body, that applies forces and torques to the body.  Newton needs a callback to do this because it may have to apply forces several times in one timestep.