classdef Body
    properties
        % Position and orientation at the beginning of the current frame
        % stored as a vector and normalized quaternion.
        position=[0 0 0]';
        orientation=[1 0 0 0]';
        
        % Discrete velocities. The displacement is the vector between the
        % position at the beginning of one frame and the beginning of the
        % next. The angular displacement is the angular equivalent as an
        % Euler vector.
        displacement=[0 0 0]';
        angularDisplacement=[0 0 0]';
        
        % Discrete accelerations. The acceleration displacement is the
        % difference between the velocity at the beginning of one frame
        % and the beginning of the next. The angular acceleration 
        % displacement is the angular equivalent as an Euler vector.
        accelerationDisplacement = [0 0 0]';
        angularAccelerationDisplacement = [0 0 0]';
        
        % Mass and inertia stored as inverses to prevent unpleasantness
        % with static (infinite mass) bodies.
        inverseMass=1;
        unitMassInverseInertia = eye(3);
        
        % Determines whether the body is integrated or not. If not, it
        % should really have infinite mass and inertia.
        dynamic=true;
    end   
end

