When it comes to simulation algorithms, the simulation of the dynamic behavior of the mechanical system is of major importance. To this end, MMI is developing state-of-the-art techniques for the simulation of rigid bodies and for integrating these with other simulation algorithms. Rigid body simulation itself is based on the Newton und Euler theorems on the conservation of momentum and angular momentum. Simulation of rigid body dynamics truly comes into its own when the physical behavior is to be simulated via the joints of interconnected or colliding bodies. Aside from collision recognition and the animation of equations of motion, compliance with set constraints form the core of all rigid body dynamics simulations. Essential aspects of the work done by MMI, aside from the further development (preferably able to function in real time) of simulation algorithms, are the identification, calibration and verification of simulation algorithms and models in real-life reference systems to ensure realistic simulation results.