Available solids are extrusions of rectangles, circles, ellipses and polygons. The solids can be positioned and oriented exactly in space, as are markers on the solids. Exact specification of linear and angular velocities of solids in space are also possible. Mass and inertia properties can be user specified or automatically computed based on uniform density. The curve-curve contact allows liftoffs and collisions based on coefficient of restitution.
Available actuators are rotary and translational.
Their motions are linear functions of time. Spring-dampers accept offset, linear stiffness and linear damping. Applied action-reactions are linear functions of time. Available torques are similar. Users can specify constant gravity of arbitrary magnitude and direction.