May the Forque Be with You.

n-Dimensional rigid body dynamics in PGA
Download PGAdyn.PDF (...)

In this guide, we apply the lessons from PGA to the problem of Rigid Body Dynamics. We guide you through an exceptionally elegant treatment of Newton's laws that is valid in any number of dimensions and unifies linear and angular aspects completely.

We focus on an audience working in computer graphics and robotics and complete the mathematical treatment with a set of open source examples and implementation details available at

Leo Dorst & Steven De Keninck