Rigid Body Simulation (Game Physics)

For this Game Physics project I tried my hand at a rigid body simulation, which for now remains incomplete.  Due to a combination of factors the simulation doesn't work as nice as I'd like - some of the math is a little fuzzy and collision resolution between bodies is jittery.
A good portion of the difficulty came from understanding the underlying matrix transformations and quaternion mathematics, which even now I'm still trying to figure out, at least from a math theory standpoint.  This contributed to the challenge of resolving collisions properly, as the process involves many matrix transposes and transformations, as well as some inversions.

I'm not too happy with the results of this project, so I'm going to attempt to fix these up within the next few days, hopefully with a slightly better understanding of the resolution process this time.