Rigid Body Dynamics Algorithms presents the subject of computational
rigid-body dynamics through the medium of spatial 6D vector notation. It
explains how to model a rigid-body system
and how to analyze it, and it presents the most comprehensive collection
of the best rigid-body dynamics algorithms to be found in a single
source. The use of spatial vector notation greatly reduces the volume of
algebra which allows systems to be described using fewer equations and
fewer quantities. It also allows problems to be solved in fewer steps,
and solutions to be expressed more succinctly. In addition algorithms
are explained simply and clearly, and are expressed in a compact form.
The use of spatial vector notation facilitates the implementation of
dynamics algorithms on a computer: shorter, simpler code that is easier
to write, understand and debug, with no loss of efficiency.