Rigid Body Motion and Conformal Geometric Algebra

Anthony Lasenby, Doran,C., Lasenby,R., Cambridge University, U.K.


The conformal geometric algebra provides a way of unifying translations and rotations of rigid bodies into a simple unified scheme. This paper discusses the way to represent forces, moments and impulses within this approach, and the proper formulation of conservation laws and 2-body collisions. Ways of efficiently implementing the algorithms numerically are also discussed.