- Class Moby::Gears
- implement a rest position for q?
- Class Moby::Joint
- implement a rest position for q?
- Class Moby::PrismaticJoint
- implement a rest position for q?
- Class Moby::RigidBody
- implement rest matrix
- Member Moby::UnilateralConstraint::write_vrml (const std::string &filename, double sphere_radius=0.1, double normal_length=1.0) const
- add a cone onto the arrows
