void bind(std::shared_ptr< PdActor > actor, Pair< uint, uint > shapeId)
void resetStates() override
void clearRigidBodySystem()
std::shared_ptr< PdActor > createRigidBody(const Coord &p, const TQuat &q)
void bindCapsule(const std::shared_ptr< PdActor > actor, const CapsuleInfo &capsule, const Real density=Real(100))
Vector< Real, 3 > angularVelocity
The angular velocity of the body.
Vector< Real, 3 > position
The barycenter of the body.