Principal data components

In the simulation set up section, we've seen an example of how to set up and configure bodies and shapes. Under the hood, when Unity Physics starts simulating the scene the following happens:

1. Several baking systems read the built-in (Collider and Rigidbodies) or custom ( PhysicsShapeAuthoring and PhysicsBodyAuthoring) authoring components, bake them into data components and add them to your entities.
2. Various physics systems read from these principal data components to generate input to the simulation.

This section describes each of these components in detail.

Topic	Description
Rigid bodies	Detailed description of the data representation of rigid bodies.
Colliders	Detailed description of the data representation of colliders.
Joints	Detailed description of the data representation of joints.
Motors	Detailed description of the data representation of motors.