Recreating rigidbody in C# script

Questions & Answers
1

Hello, I wanted to make realistic tank shell physics in unity, someone suggested me to not use rigidbody because if shell is traveling 1500 m/s for example its too fast, so I decided to rework rigidbody into C# script and I need some help because unity doesn’t provide source code of the physics module, I need to make AddForce and so on

2

The Unity physics module is an encapsulation of nVidia PhysX. The full source code for PhysX is available here:

Another way for implementing rigidbody dynamics is following the papers “An Introduction to Physically Based Modeling” (Andrew Witkin, David Baraff and Michael Kass):

http://www.cs.cmu.edu/~baraff/pbm/pbm.html

Being specific, this paper describes how to implement rigidbody dynamics and forces, including pseudocode:

This paper covers how to deal with collisions:

EDIT: Had forgot about these. Practical examples on implementing an integrator for the equations of motion: