| Physsim::AAngle | Class for representation of orientation by an angle around an axis |
| Physsim::ADF | An adaptively-sampled distance field using an octree representation |
| Physsim::ADFCollisionDetection | Implements the CollisionDetection abstract class to perform collision detection using a hybrid of PQP and adaptively sampled distance fields |
| Physsim::ArticulatedBody | Abstract class for articulated bodies |
| Physsim::Base | Class from which all Physsim classes are derived |
| Physsim::Box | Represents a solid box centered at the origin (by default) |
| Physsim::CollisionDetection | Defines an abstract collision detection mechanism |
| Physsim::CollisionGeometry | Defines collision geometry that may be used (in principle) many ways: for rigid bodies, non-rigid bodies, .. |
| Physsim::CollisionMethod | Defines an abstract collision method (i.e., a method for handling colliding, not resting, contact) |
| Physsim::CompGeom | Class for performing assorted computational geometry functions |
| Physsim::Constraint | Defines an abstract constraint used for maximal coordinate methods |
| Physsim::Contact | Container class for describing a contact in the simulation |
| Physsim::ContactData | Container class for data used for various contact methods |
| Physsim::CRBAlgorithm | Class for an articulated body using Featherstone's composite-rigid body method for forward dynamics |
| Physsim::Cylinder | Defines a cylinder primitive |
| Physsim::DynamicBody | Superclass for both unarticulated and articulated rigid bodies |
| Physsim::EulerAngles | Class for representation of orientation by a set of three (Euler) angles |
| Physsim::EulerIntegrator | A class for performing 1st-order Euler integration |
| Physsim::FSABAlgorithm | Class for an articulated body using Featherstone's algorithm for forward dynamics |
| Physsim::ICSMinimalStateStruct | Structure for quickly saving the state of the simulator |
| Physsim::ImpulseContactSimulator | A contact handling simulator that is purely impulse based-- forces are not used to determine contacts |
| Physsim::Integrator | An abstract class for an ODE integration mechanism |
| Physsim::Joint | Defines a joint used in articulated rigid body dynamics simulation |
| Physsim::LCPRestingContact | Handles resting contact by formulating the set of resting contacts into a linear-complementarity problem (LCP) |
| Physsim::LinAlg | Linear algebra routines |
| Physsim::Matrix3 | A 3x3 matrix that may be used for orientation, inertia tensors, etc |
| Physsim::Matrix4 | A 4x4 transformation matrix |
| Physsim::MatrixN | A generic, possibly non-square matrix |
| Physsim::MatrixNN | A generic square matrix |
| Physsim::MCArticulatedBody | Defines an articulated body simulated using maximal coordinate methods |
| Physsim::MeasureData | Encapsulates data for measurements used by global contact methods |
| Physsim::MirtichRestitutionModel | Defines the Mirtich model for collision restitution |
| Physsim::NewtonRestitutionModel | Defines the Newton model for collision restitution |
| Physsim::Octree | A generic octree |
| Physsim::PenaltyRestingContact | Handles resting contact using a penalty method (i.e., springs and dampers that correct interpenetration) |
| Physsim::PoissonRestitutionModel | Defines the Poisson model for collision restitution |
| Physsim::Polyhedron | Represents a three-dimensional polyhedron |
| Physsim::PQPCollisionDetection | Implements the CollisionDetection abstract class to perform collision detection using the PQP package |
| Physsim::Primitive | Defines an abstract primitive type used for inertial property calculation and geometry provisions |
| Physsim::PrismaticJoint | Defines an actuated prismatic joint |
| Physsim::Quat | Quaternion class used for orientation |
| Physsim::Query | Container class used for storing the queries from the collision detector |
| Physsim::RCArticulatedBody | Defines an articulated body for use with reduced-coordinate dynamics algorithms |
| Physsim::RCArticulatedBodyFwdDynAlgo | Abstract class for performing forward dynamics computation on a reduced-coordinate articulated body |
| Physsim::RCArticulatedBodyInvDynAlgo | Abstract class for performing inverse dynamics computation on a reduced-coordinate articulatedc body |
| Physsim::RCArticulatedBodyInvDynData | Wrapper class for passing data to and from inverse dynamics algorithms |
| Physsim::RecurrentForce | Used for applying forces to the simulation on every time step |
| Physsim::RestingContactMethod | Defines an abstract method for handling resting (i.e., non-impacting contact) |
| Physsim::RevoluteJoint | Defines an actuated revolute joint |
| Physsim::RigidBody | Represents a single rigid body |
| Physsim::RNEAlgorithm | Implementation of the Recursive Newton-Euler algorithm for inverse dynamics |
| Physsim::RungeKuttaImplicitIntegrator | A class for performing 4th-order implicit Runge-Kutta integration |
| Physsim::RungeKuttaIntegrator | A class for performing 4th-order Runge-Kutta integration |
| Physsim::Simulator | Simulator for both unarticulated and articulated rigid bodies without contact |
| Physsim::SMatrix6 | A 6x6 spatial algebra matrix typically used for dynamics calculations |
| Physsim::SMatrixN | A generic, possibly non-square spatial algebra matrix |
| Physsim::SoSeparatorWrapper | A wrapper for OpenInventor SoSeparator class, supporting serialization |
| Physsim::Sphere | Represents a sphere primitive for inertia properties, collision detection, and visualization |
| Physsim::SphericalJoint | Defines an actuated spherical joint |
| Physsim::StaticFrictionInfo | Special class for storing static friction contact info for PenaltyRestingContact |
| Physsim::StringEqual | Equivalence function class for string objects (performs case-insensitive equivalence test) |
| Physsim::StringHash | Hashing function class for string objects |
| Physsim::SVector6 | A 6-dimensional floating-point vector for use with spatial algebra |
| Physsim::TCSMinimalStateStruct | Structure for quickly saving the state of the simulator |
| Physsim::ThreshContactSimulator | Defines a contact handling simulator that uses velocity thresholding to categorize contacts as impacting or resting |
| Physsim::Triangle | Defines a triangle for use in collision detection and visualization geometries |
| Physsim::TriangleMesh | Represents a triangle mesh "primitive" for inertia properties, collision detection, and visualization |
| Physsim::UniversalJoint | Defines an actuated universal joint |
| Physsim::Vector2 | A two-dimensional floating point vector used for computational geometry calculations |
| Physsim::Vector3 | A three-dimensional floating point vector |
| Physsim::VectorN | A generic N-dimensional floating point vector |
| Physsim::Visualizable | Class that allows for visualizing simulation data |
| Physsim::XMLAttrib | Attributes used for XML nodes |
| Physsim::XMLReader | Used to read the simulator state from XML |
| Physsim::XMLTree | An XML tree used for serialization |
| Physsim::XMLWriter | Class for writing Base objects (and their derivatives) to XML |
