What is a good, up-to-date, well-regarded text on writing physics solvers for (e.g.) game engines or realtime simulations?
In particular, treatment of numerical stability, convergence, asymptotic complexity and performance, contact forces, and the handling of constraints are relevant to me.
I have solid familiarity of university level physics, calculus, PDEs and ODEs, and linear algebra; and these can be assumed as prerequisites.
(An ideal book would be the analogue of Pharr and Humphreys, but for simulation)
What text(s) should I consult?
