Physical simulation using the ODE Lib.Use its childclasses for simulating physical behaviour of objects (@see http://www.ode.org). Read the ODE API documentation for better understanding, parts of it are included in this documentation. The luxinia API is simplifies some calls or renames them, but basicly, the functions are the same. A physical simulation can be divided in two object types: Static and dynamic objects. In ode, simulated objects that are staticly are called geoms, and objects that can interact and move dynamicly are called bodies. Geoms are solid (except trimeshes, which is the source of most problems when using them) objects, socalled primitives - cubes, spheres, cylinders and so on. Bodies are built using multiple geoms, allowing more complex objects for your simulation. The collision detection is done by using socalled spaces.
o-+ ode o-- dbody o-+ dcollider | o-+ dgeom | | o-- dgeombox | | o-- dgeomccylinder | | o-- dgeomcylinder | | o-- dgeomplane | | o-- dgeomray | | o-- dgeomsphere | | o-- dgeomtransform | | o-- dgeomtrimesh | | o-- dterrain | o-+ dspace | | o-- dspacehash | | o-- dspacequad | | o-- dspacesimple o-- dcollresult o-- dgeomtrimeshdata o-+ djoint | o-- djointamotor | o-- djointball | o-- djointcontact | o-- djointfixed | o-- djointhinge | o-- djointhinge2 | o-- djointslider | o-- djointuniversal o-- djointgroup o-- dworld