Basic Physics in openGL (C++)

I am trying to write a very basic physics engine for simple 3d objects such as cubes.  I only intend to use gravity, collision detection, and possibly thrust.  This isnt for a game, just for experimentation.  My problem is that I have no clue where to start.  If anyone could explain the basic way to implement physics into a 3d environment or has a link to a site that does, that would be great.
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joachimcConnect With a Mentor Commented:
I would check the Physics tutorials at

Gravity is pretty simple to implement. asume you have a vector moving up (0, 10, 0) with this speed.

The gravity here on earth is 10 M/S ^ 2 (asuming that you have no recistance like air :). This means after one second your upward motion will stop and you start to fall. Then the speed will increase with time.

Thrust is also just to add a vector to your current position. The trick here is to add the vector in the direction you want to move. Normally your objects z+.

Collision you can look at in the turorials :)=

You could try this book from amazon as an introduction?

mgeepsAuthor Commented:
Thank you very very much. The tutorials are a big help and I've got some connections at amazon so I'll see if I can't get a hold of that book.
also try

its a site with lots of opengl game/engine creation tutorials
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