||Describes the mass distribtuion of a rigid body. In paricular it effects how the angular velocity of a body can change. See Moment of inertia
|Center of mass (COM)
||Forces applied to the center of mass will push the body in the direction of the force without causing rotation
||A convex shape or volume has the property that a line segment drawn between any two points inside the volume never leaves the volume. We exploit this property to accelerate the performance of collision detection and spatial queries.
|Degree of Freedom (DOF)
||A describtion of how a linear system is free to move. In rigid body dynamcis we usualy refer to the 6 degrees of freedom a body has when moving in free space. These are 3 linear and 3 angular degress of freedom. The correspond to the axes you specify when describing a constraints
||To improve the performance and robustness of collision detection we allow contacts to be generated within a small tolerance of the surface of a convex shape. This tolerance is referred to as convex radius
||Typically describes a constraint used during constraint solving. See Jaconian