Vector3 v
World space velocity and angular velocity.
Definition: RigidBodyDynamics.h:41
Matrix3 H
Local inertia matrix and inertia inverse.
Definition: RigidBodyDynamics.h:37
RigidTransform T
Transform about the COM.
Definition: RigidBodyDynamics.h:39
Real m
Mass.
Definition: RigidBodyDynamics.h:35
A class for simulating a rigid body. Uses Euler integration.
Definition: RigidBodyDynamics.h:10