[simulator][rigid body](up to 9 pts) Rigid body dynamics

[LazyJazz]

Prerequisites: rigid body kinematics (#21)

Rigid Body Algorithm

Rigid body (including articulated body) is the key component for robotic applications, since robot embodiments are mostly modeled as articulated body. The rigid body dynamics is

You will receive 6 pts for $O(n^3)$ solution, and 9 pts for the $O(n)$ Articulated Body Algorithm.

References

Multibody Dynamics
Rigid Body Dynamics