Dynamics analysis in motion simulation of articulated rigid body

An algorithm for the dynamics analysis of articulated rigid bodies is presented in this paper. Its computational complexity, O(n), grows linearly with the number of segments constituting the rigid body. Current linear time algorithms start dynamics analysis from the root segment (or floating base) of the articulated rigid body. More generous than those, our algorithm is applicable to rigid bodies that don't have a root segment (or floating base) and whose articulated structure can be changed dynamically during simulation. Meanwhile, this algorithm essentially allows parallel dynamics analysis, which is useful and critical for simulation of a large number of rigid bodies.