; Vector getWorldCOM() const // : Returns the world position of the COM with respect // to this body.; Vector getVelocityAtWorldPoint(const Vector& p) const // : Given a point in worldspace, returns its speed // taking into account velocity and angular velocity. ; Void setInverseInertiaTensor(const Matrix& i) // : Sets the inverse inertia tensor of this body. // Automatically sets the inertia tensor as well by // inversing the incoming matrix. // DOES NOT NEED TO BE CALLED AFTER CALLING // setInertiaTensor() ; Void setInertiaTensor(const Matrix& i) // : Opposite of setInverseInertiaTensor. // DOES NOT NEED TO BE CALLED AFTER CALLING // setInverseInertiaTensor() ; Matrix& getInertiaTensor():; Matrix& getInverseInertiaTensor() // : Returns the inertia tensor or inverse inertia // tensor contained by this object. ; Void ApplyImpulse(const Vector& impulse, const Vector& pointOfApplication) // : Applies a given impulse instantaneously onto this // object at a given world point of application. Can // be used to shoot or prod objects.