Math is my achilles heel when it comes to gamedev actually. All the more sophisticated math in Twig is by LadyHavoc, I can only use premade functions because I know what they do, but not how they work. Like if there's a matrix multiply function available, or quaternion related functions, I can use those to achieve what I need, but I cannot figure out how they work. It's mostly because you do get by as a gameplay programmer with only using premade functions + vector math, so I've rarely been hindered too much in my day to day work by this shortcoming. Another thing I don't understand is why certain approaches to physics integration are more stable than others. I sort of get why basic euler doesn't work, but I don't get why euler works when you do half steps like in Twig (courtesy of LadyHavoc ofcourse). I write a new physics engine every year or so, based on experience I've gathered about what works and doesn't, not actual math proficiency, which means I'm always a bit behind others who write physics engines. I basically look at Erin Catto's presentations, and do what he says he did two years ago or whatever

The list at the bottom of this document has some good resources:
https://docs.google.com/document/d/14Iw ... rmr4Q/edit