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.
|All the types of joints. |
|All the types of geometries. |
|Physics engine drive the dynamic simulation. |
|Body class. More...|
|Base class for all geoms. More...|
|Base class for all joints. More...|