I was looking at the State class, and it seems to me some attributes (below)
are not needed.
Any reason to not get rid of them?
I don't think we need accel and angAccel (grep the code to make sure,
however), so you can go ahead I think. For refPos and refOri, they are
used in the rendering code and some other functions. While you are
cleaning up, there is also superfluous FrictPhys.frictionAngle (only the
tangent is needed in computations I would think). v.
Bruno
((Vector3r,accel,Vector3r::Zero(),,"Current acceleration."))
((Vector3r,angAccel,Vector3r::Zero(),,"Current angular acceleration"))
((Vector3r,refPos,Vector3r::Zero(),,"Reference position"))
((Quaternionr,refOri,Quaternionr::Identity(),,"Reference orientation"))
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