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.