Todo List

Member Physsim::AAngle::set (const Quat *q)

test this method

Member Physsim::CollisionMethod::calc_collision_point (ContactPtr c)

revisit how this method works with non-convex geometries

Member Physsim::CompGeom::intersect_seg_box (const Vector3 &lo, const Vector3 &hi, const std::pair< Vector3, Vector3 > &seg, Vector3 &isect1, Vector3 &isect2)

test this function

Member Physsim::Contact::to_visualization_data () const

add a cone onto the arrows

Member Physsim::Contact::write_vrml (const std::string &filename) const

add a cone onto the arrows

Class Physsim::Joint

implement a rest position for q?

Member Physsim::Matrix4::set (const AAngle *a, const Vector3 *v)

make this marginally faster by setting the matrix components directly (eliminates redundancy in setting non-rotation and non-translational components)

Member Physsim::Matrix4::set (const Matrix3 *m, const Vector3 *v)

make this marginally faster by setting the matrix components directly (eliminates redundancy in setting non-rotation and non-translational components)

Member Physsim::Matrix4::set (const Quat *q, const Vector3 *v)

make this marginally faster by setting the matrix components directly (eliminates redundancy in setting non-rotation and non-translational components)

Class Physsim::PrismaticJoint

implement a rest position for q?

Member Physsim::RestingContactMethod::determine_A_b (const std::vector< MeasureData > &ms, MatrixNN &A, VectorN &b)

remove cloning -- shouldn't be necessary

Class Physsim::RigidBody

implement rest matrix

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