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| Interface Summary | |
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| Joint | |
| Class Summary | |
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| ArticulatedBodySolver | |
| BallJoint | |
| RNEASolver | Recursive Newton-Euler inverse dynamics solver, based on Rigid Body Dynamics Algorithms Roy Featherstone 2007 Solves for a branch of ball joints, does not handle external forces (yet) TODO (contributions are welcome): - support for hinge/universal joints - support for external forces |
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