To summarize, what should be in Body->state? The set to choose from is:

* position, velocity, acceleration, mass;
* orientation, angular velocity, angular acceleration, inertia.

inertia and mass : no.
The rest should be in "state" since it changes with time.

Do we plan, in the future, have bodies that don't need orientation? (I
mean: concrete plans, not just "extensibility" concerns).

Not me.

Cheers.

Bruno


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Chareyre Bruno
Maître de Conférences

Grenoble INP
Laboratoire 3SR - bureau E145
BP 53 - 38041, Grenoble cedex 9 - France
Tél : 33 4 56 52 86 21
Fax : 33 4 76 82 70 43
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