This is mostly naive implementation of mass aggregate physics based on Millington's book: there is no rotation, only moving and interacting masses, some basic forces and links.
Futher work on some nice mass aggregate demos and rigid body physics engine is going now in GameTech repo where we also write custom Vulkan renderer.
In /docs directory you can find some crazy research notes that I've made during my struggling through math/physics.
Some files with *.IP extension are Interactive Physics projects where we reproduce physics experiments and make measurements.