Someone posted the "Jolt Engine" a couple of weeks ago. Its open source and the code is really clean: https://jrouwe.github.io/JoltPhysics/

I'm taking a physics class for my game technology MSc and we are using Ian Millingtons Book. I had so many great expectations from my class and that book, but I'm a little bit disappointed in both. Thanks for the link!

I read Millington's book a long time ago and I really liked it. But it's an old book, so it might be outdated by now.

That’s a project I always wanted to try myself. I was following The Cherno's youtube channel and on his game engine and he just decided to use an external physics library. This might help fill the gaps I hope!?

Well in his defense, Cherno's goal is to build a game engine and a physics engine is a monster topic that would probably need many more hours of youtube content, which is not great for Youtube algorithm, and he did the same with the ECS code where he basically just included and used the EnTT library to handle ECS data structures. Besides that, there are already many books that cover the topic of physics engines. Why would he spend time doing that?

Most books I read on it are not friendly with students that are just starting. And what I want is to see how the code is written and glued together, which most books lack. I don't know, I might give this course a go and see how things go. It's cheaper than most books about game physics anyway.

I guess so. If I was doing a game engine from scratch I would probably do the same as Cherno did. Keep it simple and use what others already did! :)