Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
  Moby | |
   AABB | An axis-aligned bounding box |
| ArticulatedBody | Abstract class for articulated bodies |
| Base | Class from which all Moby classes are derived |
| BoundingSphere | A sphere used for bounding geometry |
| BoxPrimitive | Represents a solid box centered at the origin (by default) |
| BV | An abstract bounding volume |
| CCD | Implements the CollisionDetection abstract class to perform exact contact finding using abstract shapes |
| CollisionDetection | Defines an abstract collision detection mechanism |
| CollisionGeometry | Defines collision geometry that may be used (in principle) many ways: for rigid bodies, non-rigid bodies, .. |
| ConePrimitive | Defines a cone primitive |
| ConstraintSimulator | An virtual class for simulation with constraints |
| ConstraintStabilization | Projected constraint stabilization mechanism |
| ContactParameters | Class for storing contact modeling parameters between two bodies |
| ControlledBody | Superclass for controlled bodies |
| CylinderPrimitive | Defines a cylinder primitive |
| DegenerateTriangleException | Exception thrown when trying to perform an operation that requires a normal on a degenerate triangle |
| Dissipation | |
| DummyBV | An abstract bounding volume |
| FixedJoint | Defines a joint for fixing two bodies together or fixing one body to the ground |
| Gears | Defines a gear ("joint") constraint |
| GravityForce | Gravitational force applied to bodies |
| HeightmapPrimitive | Represents a heightmap with height zero on the xz plane (primitive can be transformed) |
| ImpactConstraintHandler | Defines the mechanism for handling impact constraints |
| ImpactToleranceException | Exception thrown when constraint violation is greater than a desired tolerance |
| IndexedTri | An indexed triangle |
| IndexedTriArray | An array of triangles indexed into shared vertices |
| InvalidIndexException | Exception thrown when trying to access the index beyond the range of the data |
| InvalidStateException | Exception thrown when an integrator tries to evaluate a derivative at an invalid state |
| InvalidVelocityException | Exception thrown when an integrator tries to evaluate a derivative at an invalid velocity |
| Joint | Defines a joint used in articulated rigid body dynamics simulation |
| LCPSolverException | Exception thrown when LCP solver can't solve |
| OutputToFile | |
| Log | Moby's logging utility |
| OBB | An oriented bounding box that optionally allows building an OBB tree |
| OSGGroupWrapper | A wrapper for OpenInventor OSGGroup class, supporting serialization |
| PairwiseDistInfo | Structure for storing the pairwise distance between pointers to two CollisionGeometry objects |
| PenaltyConstraintHandler | Defines the mechanism for handling Penalty constraints |
| PlanarJoint | Defines an actuated spherical joint |
| Plane | Defines a plane using the equation <n, x> = d |
| PlanePrimitive | Represents a heightmap with height zero on the xz plane (primitive can be transformed) |
| PolyhedralPrimitive | Defines a triangle-mesh-based primitive type used for inertial property calculation and geometry provisions |
| Polyhedron | A potentially-non-convex polyhedron of genus 0 |
| Edge | The edge structure |
| Face | The face structure |
| Feature | A vertex, face, or edge in a polyhedron |
| Vertex | The vertex structure |
 VertexFaceIterator | Iterates over the vertices in a face |
| Primitive | Defines a triangle-mesh-based primitive type used for inertial property calculation and geometry provisions |
| PrismaticJoint | Defines an actuated prismatic joint |
| RCArticulatedBody | Defines an articulated body for use with reduced-coordinate dynamics algorithms |
| RCArticulatedBodyInvDynData | Wrapper class for passing data to and from inverse dynamics algorithms |
| RCArticulatedBodyInvDynAlgo | Abstract class for performing inverse dynamics computation on a reduced-coordinate articulatedc body |
| RecurrentForce | Used for applying forces to the simulation on every time step |
| RevoluteJoint | Defines an actuated revolute joint |
| RigidBody | Represents a single rigid body |
| ScrewJoint | Defines an actuated screw (helical) joint |
| SDFReader | Used to read the simulator state from XML |
| Simulator | Simulator for both unarticulated and articulated rigid bodies without contact |
| SingularException | Exception thrown when trying to invert/solve with a non-invertible matrix |
| MatrixBlock | Matrix block |
| SparseJacobian | A Sparse Jacobian representation along with multiplication routines |
| SpherePrimitive | Represents a sphere primitive for inertia properties, collision detection, and visualization |
| SphericalJoint | Defines an actuated spherical joint |
| SSL | A sphere-swept line (SSL) that optionally allows building an SSL tree |
| SSR | A sphere-swept rectangle (SSR) that optionally allows building an SSR tree |
| StokesDragForce | |
| TessellatedPolyhedron | Represents a three-dimensional polyhedron |
| TimeSteppingSimulator | An event-driven simulator |
| TorusPrimitive | Represents a solid box centered at the origin (by default) |
| TriangleMeshPrimitive | Represents a triangle mesh "primitive" for inertia properties, collision detection, and visualization |
| UndefinedAxisException | Exception thrown when axis has not been defined but user calls operation that requires its definition |
| UnilateralConstraint | Container class for describing a unilateral constraint in the simulation |
| UniversalJoint | Defines an actuated universal joint |
| URDFReader | Used to read the simulator state from URDF |
| Visualizable | Class that allows for visualizing simulation data |
| XMLReader | Used to read the simulator state from XML |
| XMLAttrib | Attributes used for XML nodes |
| XMLTree | An XML tree used for serialization |
| XMLWriter | Class for writing Base objects (and their derivatives) to XML |
| BaseData | |
| CcolorVisitor | This OSG NodeVisitor colors all Geometry & ShapeDrawable of a single node |
 osg | |
 OsgTorus |
