2004-09-28 verlet積分 http://www.ioi.dk/Homepages/thomasj/publications/gdc2001.htm http://www.ioi.dk/Homepages/thomasj/publications/AdvancedPhysics_files/frame.htmhttp://www.ioi.dk/Homepages/thomasj/publications/AdvancedPhysics.ppt