Detailed Description

Classes 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.


class  Body
 Body class. More...
class  Geom
 Base class for all geoms. More...
class  Joint
 Base class for all joints. More...

Last updated Aug 04 2007