This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid body systems. It focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic simulation engines that can be used to generate convincing animations of physical events involving particles and rigid bodies. It can also be used to produce accurate simulations of mechanical systems, such as a robotic parts feeder. The book is intended for researchers in computer graphics, computer animation, computer-aided mechanical design and modeling software developers.

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"This is a monograph intended to provide its readers with a comprehensive introduction to the simulation and animation of multibody system dynamics. Both theoretical and applied concepts are discussed. The book is written for the designers of software to represent the kinematics and dynamics of systems of rigid bodies. ... The book contains a vast store of information on computer graphics and the associated procedures." (Ronald L. Huston, Zentralblatt MATH, Vol. 976, 2002)

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