Understanding the Jacobian

Hello,

I'm trying to make my own physics engine. I've already made one with momentum and an very easy

collision solver, but it was creepy and full of bugs because I solved the contacts one after another.

Then I read about the difference between iterative and single pass algotrithms and I tried to get into some deeper math but I was definitely limited by my little knowledge in matrices. So I started to improve this but apart from learning the basic handling with matrices I have some problems understanding the Jacobian matrix and its connection to the collision response. Could you recommend

me some "simpy explained" resources on this topic? I had a look into Game Physics from David Eberly

but the math required for this book is too heavy for me in moment. I am familiar with differentation

and things like that from school but It's hard for me to master resources with such a strong level of

abstraction.



Thanks in advance and excuse for my beginner english:)