I imagine Bob Smith would be the best to ask, but I've thrown it open to the forum instead of a PM.

I've decided to try and teach myself multi-body simulation. I know my c++ skills are up to scratch and my vector algebra too, but I'm having real trouble finding any resources to get me started. Pretty much everything I find is just tutorials on basic vector addition and substraction.

The problem that I'm trying to work out is how to model several moving parts that are joined and so apply contsraints to the other parts' movements, for example (but by no means limited to) a car's suspension.

I imagine each part is modelled as a vector, simply representing the distance and direction between pivots. I can't work out how to describe the position of one part given the position of one or more other parts it's joined to. I've spent all day trying to derive it from scratch but can't *quite* get my head round it - I know for sure that if I see it all derived for me I'll understand it and be able to go from there.

Are there any online papers or a good book (not neccesarily aimed at coders, but this would be ideal) I could get?

I've decided to try and teach myself multi-body simulation. I know my c++ skills are up to scratch and my vector algebra too, but I'm having real trouble finding any resources to get me started. Pretty much everything I find is just tutorials on basic vector addition and substraction.

The problem that I'm trying to work out is how to model several moving parts that are joined and so apply contsraints to the other parts' movements, for example (but by no means limited to) a car's suspension.

I imagine each part is modelled as a vector, simply representing the distance and direction between pivots. I can't work out how to describe the position of one part given the position of one or more other parts it's joined to. I've spent all day trying to derive it from scratch but can't *quite* get my head round it - I know for sure that if I see it all derived for me I'll understand it and be able to go from there.

Are there any online papers or a good book (not neccesarily aimed at coders, but this would be ideal) I could get?