"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. It presents a philosophy and terminology for "Structured Modeling" and includes mathematical and programming techniques to support and implement the methodology. It covers a library of model components, including rigid-body kinematics, rigid-body dynamics, and force-based constraint methods. It includes illustrations of several ample models created from these components and contains a foreword by Al Barr.