This is a basic implementation of a Unconstrained Rigid Body Simulation (implemented in C++). This project is based on the paper "An Introduction to Physically Based Modeling: Rigid Body Simulations I - Unconstrained Rigid Body Dynamics" by David Baraff.
The main idea is to extend the motion of particles to rigid bodies, and derive equations for position, orientation, linear velocity, angular velocity, force, torque, linear momentum, angular momentum and center of mass.