Detailed DescriptionClasses to handle the physics simulation.
The physics simulation consists of three elements: bodies, geoms, and joints. A body encapsulates the dynamic properties of an entity, a geom encapsulates the kinematic properties, and joints connect bodies to each other.
A physics engine is used to calculate the properties of each body, geom, and joint. Currently, only the ODE physics engine is available.
The body class
Base class for all geoms
Base class for all joints
|Body class. More...|