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How do fixed-point physics (engines) work?

I would think there should be an abundance of excellent articles answering this question, but my searches have come up completely empty.

I am developing an embedded graphics engine on a microcontroller which does not have an FPU or math co-processor.

I read somewhere before during my research that reasonably precise physics can be implemented without floating point math by using fixed point math.

How exactly does this work? What generally would be the programmatic behavior of a physics engine with some time step dt?

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