Dynamics Simulation and Geometric Modeling Using D* Symbolic Differentiation

D* is a program for efficiently computing symbolic derivatives. This release includes source code tutorials showing basic D* usage, source code for Lagrangian dynamics, and source code for a simple geometric modeler. This version has a new linear time dynamics algorithm which is much faster than the algorithm used in previous releases, especially for systems with many degrees of freedom. The FAQ has been expanded with more details on techniques for optimizing performance.