Automated Synthesis of Numerical Programs for Simulation of Rigid Mechanical Systems in Physics-Based Animation.

Thomas Ellman Ryan Deak Jason Fotinatos Automated Synthesis of Numerical Programs for Simulation of Rigid Mechanical Systems in Physics-Based Animation. 367-398 2003 10 Autom. Softw. Eng. 4 http://dx.doi.org/10.1023/A:1025811105984 db/journals/ase/ase10.html#EllmanDF03