by David M. Bourg

This book is an easy-to-read introduction to game physics. It explains the basics (kinematics, kinetics, forces, particles, rigid bodies, collision response) and several applications (projectiles, ships, hovercrafts, cars, etc.).
The book is for beginners. You will need other sources for advanced topics, like rigid body contact or joint-handling.

I encounterd several errors while reading the book, so make sure to read the errata on the book's website: http://www.oreilly.com/catalog/physicsgame/

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.

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 Ahmed A. Shabana

Constraints, joints, constraint forces, inertia, Lagrange multipliers, Jacobian matrix… Have you heard these terms before? If you want to program game physics, you should know them, and this book offers a good introduction to these concepts and multi-body dynamics theory.

Note: The book is written for engineers, not for game programmers. The book is focused on kinematics, joints and constraints - many topics relevant for game physics are not covered.

by Kenny Erleben, Jon Sporring, Knud Henriksen, Henrik Dohlman

I haven't read this book yet, but I have read Kenny Erleben's excellent thesis. The thesis is available here.

 

by Goldstein, Poole and Safko

Classic.

I suppose every game physics programmer needs at least one book about Classical Mechanics.
I have used this book to look up several derivations that I couldn't find in other sources.

by Friedhelm Kuypers

For German readers:

Wer eine Einführung in die Klassische Mechanik lieber von einem deutschen Autor lesen will, der kann in diesem Buch nachschlagen.