by Gino van den Bergen

by Christer Ericson

I haven't read this book yet, but I definitely will.
A GJK subalgorithm from the book is used in Bullet.

Check out the companion website for this book: http://realtimecollisiondetection.net/

by Murilo G. Coutinho

This book explains the dynamics of particle sytems, rigid body systems and articulated rigid bodies. The chapters about collision detection show how to compute intersections of primitves and for convex bodies using Mirtich's Voronoi Clip algorithm and the GJK algorithm.

The table of contents of the book and more downloads are available at the website of the book.

by David H. Eberly

This is the most profound book on game physics I have read up to now. It covers: physics basics, Newtonian and Lagrangian dynamics, deformable bodies, collision detection, collision response, numerical integration methods, linear complementarity programming, quaternions and and and…
Some more off-topic chapters are included too, like splines, NURBS or shader programming.

But even this load of information will not be enough to enable you to write a general purpose physics engines. You will need more details about constraint-handling. Have a look at my thesis if you are interested in that.

Included on the CD-ROM of the book is a snapshot of the Wild Magic Engine (LGPL source code and supporting materials). This material is also available here: http://www.geometrictools.com/

Be aware: The book contains a lot of advanced mathematics and is not always easy to read.