An iterative approach to dynamic simulation of 3D rigid body motions for real-time interactive computer animation

A method is presented for approximating the motions of linked 3-dimensional rigid body systems that may be applied in the context of interactive motion specification for computer animation. The method is based on decoupling the ballistic (free) component of the motion of the points that constitute the solid, and the component due to the shape constraint of the solid. This allows for a conceptually simple and computationally efficient algorithm for motion specification.