A comprehensive introduction to the techniques for creating dynamic simulations and animations of multibody systems. Focuses on the theoretical and practical aspects of developing and implementing physically basic dynamic simulation engines that can be used to generate animations of physical events involving particles and bodies. DLC: Computer simulation.
Table of Contents:
Preface
1
Computational Dynamics
1
2
Hierarchical Representation of 3D Polyhedra
17
3
Particle Systems
61
4
Rigid-Body Systems
155
5
Articulated Rigid-Body Systems
245
A
Useful 3D Geometric Constructions
265
B
Numerical Solution of Ordinary Differential Equations of Motion
