| bodies::Body | A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed |
| bodies::BoundingSphere | Definition of a sphere that bounds another object |
| bodies::Box | Definition of a box |
| shapes::Box | Definition of a box |
| bodies::ConvexMesh | Definition of a convex mesh. Convex hull is computed for a given shape::Mesh |
| bodies::Cylinder | Definition of a cylinder |
| shapes::Cylinder | Definition of a cylinder |
| bodies::detail::intersc | |
| bodies::detail::interscOrder | |
| shapes::detail::ltVertexIndex | |
| shapes::detail::ltVertexValue | |
| shapes::Mesh | Definition of a mesh |
| shapes::detail::myVertex | |
| shapes::Plane | Definition of a plane with equation ax + by + cz + d = 0 |
| shapes::Shape | A basic definition of a shape. Shapes are considered centered at origin |
| bodies::Sphere | Definition of a sphere |
| shapes::Sphere | Definition of a sphere |
| shapes::StaticShape | A basic definition of a static shape. Static shapes do not have a pose |