Tutorial is here: [link]
There was once a game called 'N' developed by Metanet.
Many of you may have already played it. And if you haven't, you can download it on this site: [link]
They apparently provided an in-depth tutorial, complete with physics and math equations. They also provide a demo and sourcecode for the tutorials. A thorough tutorial it is, but I hope you have a lot of patience, because as far as I can tell, it's not for the uninitiated. I haven't seen the code yet though, but as many people wanted a tutorial as this kind of stuff, I thought I'd bring this up in my journal. So enjoy! (Or at least be amazed by their mathematical genius.)