[ODE] questions about game programming and ODE solver

[Misha Smelyanskiy]

Hello,
  I have a few questions:
  1. Can someone please recommend a decent book on game design and programming.
  2. Do you know if someone has implemented penalty force-based solver with semi-integration in ODE? If yes, is it possible to obtain the source; if no, do you know how difficult it'd be to implement this in ODE?
   
  Thank you in advance,
  Mike
   
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