Publisher SummaryIntroductionReview of SuperquadricsRigid Physically Based Superquadric QuantitiesConclusionAcknowledgmentAppendix A Review of Superquadric Geometric QuantitiesAppendix B Some Equations of Rigid-Body MotionAppendix C How to Compute β(m, n), and Γ(n)Appendix D Sketch of Derivation of Superquadric Volume, Mass, and Inertia Tensor