Rigid body simulations are much much simpler. There’s a siggraph course from 2001 [0] which is a bit of a dense read but it will bring you all the way up to a full blown rigid body simulation and understanding the math behind it too.
It’s less about the number of points and scaling and more about understanding the fundamentals. Any sort of particule simulation (which is the easiest way to get into cloth, soft body and fluid dynamics) requires about the first half of that paper I linked anyway.
[0] https://graphics.pixar.com/pbm2001/pdf/notesg.pdf