Alan H. Barr & Ronen Barzel 
Physically-Based Modeling for Computer Graphics [PDF ebook] 
A Structured Approach

Physically-Based Modeling for Computer Graphics: A Structured Approach addresses the challenge of designing and managing the complexity of physically-based models. This book will be of interest to researchers, computer graphics practitioners, mathematicians, engineers, animators, software developers and those interested in computer implementation and simulation of mathematical models. — Presents a philosophy and terminology for "Structured Modeling"- Includes mathematicl and programming techniques to support and implement the methodology- Covers a library of model components, including rigid-body kinematics, rigid-body dynamics, and force-based constraint methods- Includes illustrations of several ample models created from these components- Foreword by Al Barr