From the reviews: "This book offers lengthy descriptions of simulations in general, and specific kinds of systems in more depth. The chapters cover a broad range of topics. ... The book also contains nine appendices on useful mathematical tools, such as differential equations, quaternions, and the convex decomposition of polyhedra. ... The target audience is software developers interested in using dynamic simulations as part of their software." (Jeffrey Putnam, Computing Reviews, July, 2013)

• Dynamic Simulations.- Hierarchical Representation of 3D Polyhedra.- Particle Systems.- Rigid-Body Systems.- Articulated Rigid-Body Systems.- Useful 3D Geometric Constructions.- Numerical Solution of Ordinary Differential Equations of Motion Quaternions.- Rigid-Body Mass Properties.- Useful Time Derivatives.- Convex Decomposition of 3D Polyhedra.- Constructing Signed Distance Fields for 3D Polyhedra.- Conservative Time Advancement for Convex Objects.- The Linear-Complementarity Problem.

From the reviews: "This book offers lengthy descriptions of simulations in general, and specific kinds of systems in more depth. The chapters cover a broad range of topics. ... The book also contains nine appendices on useful mathematical tools, such as differential equations, quaternions, and the convex decomposition of polyhedra. ... The target audience is software developers interested in using dynamic simulations as part of their software." (Jeffrey Putnam, Computing Reviews, July, 2013)

• Dynamic Simulations.- Hierarchical Representation of 3D Polyhedra.- Particle Systems.- Rigid-Body Systems.- Articulated Rigid-Body Systems.- Useful 3D Geometric Constructions.- Numerical Solution of Ordinary Differential Equations of Motion Quaternions.- Rigid-Body Mass Properties.- Useful Time Derivatives.- Convex Decomposition of 3D Polyhedra.- Constructing Signed Distance Fields for 3D Polyhedra.- Conservative Time Advancement for Convex Objects.- The Linear-Complementarity Problem.

From the reviews: "This book offers lengthy descriptions of simulations in general, and specific kinds of systems in more depth. The chapters cover a broad range of topics. ... The book also contains nine appendices on useful mathematical tools, such as differential equations, quaternions, and the convex decomposition of polyhedra. ... The target audience is software developers interested in using dynamic simulations as part of their software." (Jeffrey Putnam, Computing Reviews, July, 2013)

• Dynamic Simulations.- Hierarchical Representation of 3D Polyhedra.- Particle Systems.- Rigid-Body Systems.- Articulated Rigid-Body Systems.- Useful 3D Geometric Constructions.- Numerical Solution of Ordinary Differential Equations of Motion Quaternions.- Rigid-Body Mass Properties.- Useful Time Derivatives.- Convex Decomposition of 3D Polyhedra.- Constructing Signed Distance Fields for 3D Polyhedra.- Conservative Time Advancement for Convex Objects.- The Linear-Complementarity Problem.