Presents a systematic, physics-based framework for modelling rigid, articulated, and deformable objects, their interactions with the physical world, and the estimate of their shape and motion from visual data. It includes a variety of methods and associated experiments in computer vision, graphics and medical imaging that help the reader better to understand the presented material. In addition, special emphasis has been given to the development of techniques with interactive, or close to real-time, performance. The text is suitable for graduate level courses in Computer Graphics, Computational Physics, Computer Vision, Medical Imaging, and Biomedical Engineering. In addition, this book is appropriate as a reference for researchers and practitioners in the above-mentioned fields.