# Math and Physics Articles

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**Towards a Simpler, Stiffer, and more Stable Spring**

Published in Math and Physics

By Michael Schmidt Nissen - In this article we will look at a modified spring equation that is very easy to tune, displays maximum possible stiffnes and damping, and is guaran...

**Capsule Inertia Tensor**

Published in Math and Physics

By Bojan Lovrovic - This article tries to simplify the math behind calculating inertia tensor of a cylinder as much as possible without skipping on any important detai...

**Shooting At Stuff**

Published in Math and Physics

By James Wucher - You never shoot directly at a moving target. You shoot at where the target is going to be when your shot gets there. Millions of years of biolog...

### Three Dimensional Rotations

### Quaternion Powers

Tagged With: root version square missing thanks shi quaternion norm pointing

### Matrix Math

Tagged With: matrix mat matrices vert math operations concatenate 4x4 multiply

### 3D Matrix Math Demystified

Tagged With: vector matrices frame matrix axis reference math rotation pointing