Physics Modelling for Game Programmers. This book uses DirectX and C++ and shows how to build a physics modelling framework. It includes theory about many of the maths and physics topics required to write games. The theory is kept as simple as possible, almost no calculus (a few differentials have sneaked in) and no quaternions. I think it could be potentially confusing that impulse is described as force and given the letter F. The edition I have seen has some strange printing on the collision response derivation, w is printed as ... and torque is printed as ~.
Game Physics - This book has some useful stuff, its more of a textbook, not a step by step guide (although it does have a disc with a lot of C++ code). About the first third of the book is a physics textbook with theoretical exercises, the middle bit covers physics engine topics, and the last third of the book covers mathematical topics. I think I would use this book as a reference book to lookup the theory behind something I might be working on rather than a book to work through in order.Robot Dynamics Algorithms (Kluwer International Series in Engineering and Computer Science, 22)