Feature List
General
- rigid bodies with arbitrary mass distribution
- choice of time stepping methods: either the standard method or an iterative QuickStep method can be used
- 100% Java, no native code
Collision Primitives
- sphere
- box
- plane
- capsule (=capped cylinder)
- ray
Collision Spaces
- simple
- oct-tree
Joints
- ball-and-socket
- hinge
- slider (prismatic)
- hinge-2
- fixed