... and to understand than the original one. Of course it is all based on finite-differece derivatives, both oridinary and partial.
The new flavour relies on my first theorem on Numerical Methods,and the 1 on numerical stability
Hope this piece of software will be useful to many. For more info,visit homepage. I will provide detailed documentation on how to use the engine to implment simulations of most types of articulated bodies, soon.
Enjoy!
Simon, (a.k.a.) 'The Nerd of Algorithms