Class: CP::Body

a	[RW]	Angle. (in radians)
f	[RW]	Force.
i	[RW]	Moment of inertia.
m	[RW]	Mass.
p	[RW]	Position.
rot	[R]	Rotation vector.
t	[RW]	Torque.
v	[RW]	Velocity.
w	[RW]	Angular Velocity. (in radians/second)

Create a body with the given mass and moment of inertia.

Accumulate a force as applied at the offset in world coordinates.

Apply an impulse as applied at the offset in world coordinates.

Covnvert body local coordinates to world space coordinates.

Zero the accumulated forces and torques.

Integrate the velocity of the body for the given gravity, damping and time step. (Uses Euler integration)

Integrate the position of the body for the given time step. (Uses Euler integration)

Covnvert world space coordinates to body local coordinates.