- Fixed
Frame fixed in the world frame at a given position
- FixedTranslation
Fixed translation of frame_b with respect to frame_a
- FixedRotation
Fixed translation followed by a fixed rotation of frame_b with respect to frame_a
- Body
Rigid body with mass, inertia tensor and one frame connector (12 potential states)
- BodyShape
Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)
- BodyBox
Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states)
- BodyCylinder
Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states)
- PointMass
Rigid body where body rotation and inertia tensor is neglected (6 potential states)
- Mounting1D
Propagate 1-dim. support torque to 3-dim. system (provided world.driveTrainMechanics3D=true)
- Rotor1D
1D inertia attachable on 3-dim. bodies (3D dynamic effects are taken into account if world.driveTrainMechanics3D=true)
- BevelGear1D
1D gearbox with arbitrary shaft directions and 3-dim. bearing frame (3D dynamic effects are taken into account provided world.driveTrainMechanics3D=true)
- RollingWheel
Ideal rolling wheel on flat surface z=0 (5 positional, 3 velocity degrees of freedom)
- RollingWheelSet
Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis
