Automatic dynamic modeling and simulation of underwater vehicles for virtual prototyping. http://dx.doi.org/10.1002/cae.20139

Abstract

This article describes the theoretical foundations of a software intended for the virtual prototyping of underwater vehicles (UV). The software called Voyager, has a powerful graphics interface for generating the model and subsequently visualizing the results of the simulations. It is written in C++, using the OpenGL graphics engine.