Writing and rolling a custom physics engine with no math background

Well, the title is a bit of a lie.
Math has always vaguely been an interest of mine since a younger age - but never something I was passionate enough about to sink my teeth into. My father was a math teacher, and would often let me pick his brain about concepts like Vectors, or Calculus, but I never wanted that to be my field of study.

Now, of course, the irony is much of my daily work, especially in engine development, is entirely surrounded by math... (I do love it now).

But, regardless, I had not touched math as a concept for more than general education since Year 12, and that was Further Mathematics.

In the end, I managed to implement SAT (Seperating Axis Theorem), a popular collision detection algorithm. And added a few nice quality of life features for the small test game I made. It would attempt to detect non-convex or self intersecting polygons, and also ensure that a consistent winding order was maintained for the sets of vertices for the shapes.

The game I made also made use of a few simple approximations of constraints, the clip lets you see the pin constraint in action! It ensured an object was infinitely resistant to displacement, but could still be rotated.

I want to return to this project in my free time to try and make a bit more of a full game out of it, and expand on the physics systems I had already scaffolded!