Physical Entities

A Genesis World scene is not limited to rigid robots: the same Scene can hold water, sand, cloth, soft muscle-driven bodies, quadrotors, and terrain, each simulated by the solver suited to it and each added through the same scene.add_entity(...) call. Rigid bodies are the default and the foundation, so start there; the remaining pages cover the non-rigid and specialized families. How different solvers interact where their entities touch is covered separately under Theory and Modelling.