=========
Reference
=========

Physics wrapper
===============

.. automodule:: pagoda.physics
   :no-members:
   :no-inherited-members:

.. autosummary::
   :toctree: generated/

   make_quaternion
   center_of_mass
   World
   Constraints

Bodies
------

.. autosummary::
   :toctree: generated/

   Body
   Box
   Sphere
   Cylinder
   Capsule

Motors
------

.. autosummary::
   :toctree: generated/

   Motor
   AMotor
   LMotor

Joints
------

.. autosummary::
   :toctree: generated/

   Joint
   Fixed
   Slider
   Hinge
   Piston
   Universal
   Ball

Visualization
=============

.. automodule:: pagoda.viewer
   :no-members:
   :no-inherited-members:

.. autosummary::
   :toctree: generated/

   gl_context
   Window
   Null
   Viewer

Articulated Multi-Joint Bodies
==============================

.. automodule:: pagoda.skeleton
   :no-members:
   :no-inherited-members:

.. autosummary::
   :toctree: generated/

   pid
   Skeleton

.. automodule:: pagoda.parser
   :no-members:
   :no-inherited-members:

.. autosummary::
   :toctree: generated/

   Parser
   BodyParser
   AsfParser

Articulated IK and ID
=====================

.. automodule:: pagoda.cooper
   :no-members:
   :no-inherited-members:

.. autosummary::
   :toctree: generated/

   Markers
   World