Module Body3d

type t = {
  1. pos : Vec3.t;
  2. vel : Vec3.t;
  3. orientation : Quat.t;
  4. spin : Vec3.t;
  5. mass : float;
  6. inertia : Mat3.t;
  7. inv_inertia : Mat3.t;
}
val never_turns : Mat3.t
val make : ?vel:Vec3.t -> ?orientation:Quat.t -> ?spin:Vec3.t -> ?mass:float -> ?inertia:Mat3.t -> Vec3.t -> t
val with_inertia : Mat3.t -> t -> t
val inertia_world : t -> Mat3.t
val inv_inertia_world : t -> Mat3.t
val point_velocity : t -> Vec3.t -> Vec3.t
val box : mass:float -> Vec3.t -> Mat3.t
val solid_sphere : mass:float -> radius:float -> Mat3.t
val shifted : mass:float -> Vec3.t -> Mat3.t -> Mat3.t