NewCone creates and returns a pointer to a new Cone equation object.

NewContact creates and returns a pointer to a new Contact equation object.

NewEquation creates and returns a pointer to a new Equation object.

NewFriction creates and returns a pointer to a new Friction equation object.

NewRotational creates and returns a pointer to a new Rotational equation object.

NewRotationalMotor creates and returns a pointer to a new RotationalMotor equation object.

Cone is a cone constraint equation.

Contact is a contact/non-penetration constraint equation.

Equation is a SPOOK constraint equation.

Friction is a friction constraint equation.

JacobianElement contains 6 entries, 3 spatial and 3 rotational degrees of freedom.

Rotational is a rotational constraint equation.

RotationalMotor is a rotational motor constraint equation.

IBody is the interface of all body types.

IEquation is the interface type for all equations types.