INTERACTIVE SYSTEM FOR SIMULATION AND DISPLAY OF MULTI-BODY SYSTEMS IN THREE DIMENSIONS

Method and apparatus for simulating a multibody system on a computer. The invention provides for inputting into the computer a mathematical description of each body in the multibody system, specifying into the computer a force to act on one of the bodies, formulating a Jacobian matrix, solving kinematics constraints in the computer, graphically displaying a result of the solution of the kinematic constraints from the computer onto an electronic display, whereupon the user can interactively input a change to the multibody system into the computer and graphically display a result of the change to the multibody system from the computer.