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    Glossary

    Term Description
    Inertia Tensor 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
    Convex shape 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
    Convex Radius 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
    Jacobian Typically describes a constraint used during constraint solving. See Jaconian

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