Undoubtedly this is a must-have for people who are serious about developing real-time computer graphics simulations with physically based modeling.
This book can be compared with Coutinho's "Dynamic Simulations of Multibody Systems". I believe the latter covers more materials, but Eberly's is easier to read. The book would be almost sufficient if you also have his previous book "3D Game Engine Design".
I am not sure why the author wrote chapter 4 and 6. I suppose these can be left out. It would have been more compact.