A Poincar\'e section for the general heavy rigid body
  A general recipe is developed for the study of rigid body dynamics in terms of Poincar\'e surfaces of section. A section condition is chosen which captures every trajectory on a given energy surface. The possible topological types of the corresponding surfaces of section are determined, and their 1:1 projection to a conveniently defined torus is proposed for graphical rendering. 
Sven Schmidt, Holger R. Dullin, Peter H. Richter