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RigidBodyDynamicsAlgorithmspresentsthesubjectofcomputationalrigid-bodydynamicsthroughthemediumofspatial6Dvectornotation.Itexplainshowtomodelarigid-bodysystemandhowtoanalyzeit,anditpresentsthemostcomprehensivecollectionofthebestrigid-bodydynamicsalgorithmstobefoundinasinglesource.Theuseofspatialvectornotationgreatlyreducesthevolumeofalgebrawhichallowssystemstobedescribedusingfewerequationsandfewerquantities.Italsoallowsproblemstobesolvedinfewersteps,andsolutionstobeexpressedmoresuccinctly.Inadditionalgorithmsareexplainedsimplyandclearly,andareexpressedinacompactform.Theuseofspatialvectornotationfacilitatestheimplementationofdynamicsalgorithmsonacomputer:shorter,simplercodethatiseasiertowrite,understandanddebug,withnolossofefficiency.Uniquefeaturesinclude:•Acomprehensivecollectionofthebestrigid-bodydynamicsalgorithms•Useofspatial(6D)vectorstogreatlyreducethevolumeofalgebra,tosimplifythetreatmentofthesubject,andtosimplifythecomputercodethatimplementsthealgorithms•Algorithmsexpressedbothmathematicallyandinpseudocodeforeasytranslationintocomputerprograms•SourcecodeformanyalgorithmsavailableontheinternetRigidBodyDynamicsAlgorithmsisaimedatreaderswhoalreadyhavesomeelementaryknowledgeofrigid-bodydynamics,andareinterestedincalculatingthedynamicsofarigid-bodysystem.Thisbookservesasanalgorithmsrecipebookaswellasaguidetotheanalysisanddeeperunderstandingofrigid-bodysystems.

Thebookprovidesanextensivetheoreticalaccountofthefundamentalideasunderlyingmachinelearningandthemathematicalderivationsthattransformtheseprinciplesintopracticalalgorithms.Followingapresentationofthebasicsofthefield,thebookcoversawidearrayofcentraltopicsthathavenotbeenaddressedbyprevioustextbooks.

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原则，是在编程技巧、编程语言、设计模式、工具之下的最底层的东西，它是人们在几十年的软件开发过程中不断经历、提炼出来的重要经验，体系了软件设计、开发过程中的设计哲学。
随着技术和时代的发展，这些原则可能不断演化和发展的。
但几十年之后回头看，软件开发的重要原则是很稳定的，很多思想穿过时间的隧道，依然指导着今天的软件开发。