hi looking to make simple basic video game physics that just dont clip for most of the game, something basic thats used since like doom, halflife, dark forces, quake, mario n64...where you can maybe climb ladders or slide down a slope and have fall damage but just dont clip

idk, something simple and working

what do i do? how do i do?
maybe book recommendation like game programming gems or idk, a straight ahead graphic/physics engine writing recommendations?
cheers