Accurate and efficient simulation of rigid-body rotations

Nonconvex rigid bodies with stacking

ACM SIGGRAPH 2003 Papers

Stabilization and attitude of a triaxial rigid body by lie group methods

Journal of Computational Physics

Numerical implementation of the exact dynamics of free rigid bodies

Journal of Computational Physics

Poisson integrators

Mathematical and Computer Modelling: An International Journal

On the choice of configuration space for numerical Lie group integration of constrained rigid body systems

Journal of Computational and Applied Mathematics