Here is a list of all files with brief descriptions:

Collision.h [code]	Definitions for the Collision class which implements the collision response for a single collision
CollisionDetection.cpp [code]	Implementation of the collision detection system
CollisionResolver.h [code]	Definitions for the CollisionResolver class which implements collision response algorithms for the system of rigid bodies
Constants.cpp [code]	Implementation of the Const class that encapsulates various physical and mathematical constants
Constants.h [code]	Definitions for the Const static class that encapsulates various physical and mathematical constants
Geometry.h [code]	Definitions for the Geometry and its derived classes (Sphere, Cuboid etc) which implement collision detection ('space awereness') algorithms
ImpulseMethod.cpp [code]	Implementation of the impulse transfer method algorithm
Main.cpp [code]	The main entry point for both the stand-alone application
mexFunction.cpp [code]	The main entry point for the WoRB MATLAB function
mexWoRB.h [code]	Definitions for `Matrix`, `Scalar`, `Logical` and `String` classes which simplify access to MATLAB array objects
Platform.cpp [code]	Implementation of platform dependent functions (like Pause())
PositionProjections.cpp [code]	Implementation of the position projections algorithm
QTensor.h [code]	Definitions for the QTensor class that represents a quaternionic tensor
Quaternion.h [code]	Definitions for the Quaternion class that encapsulates Hamilton real quaternions
RigidBody.h [code]	Definitions for the RigidBody class
Utilities.cpp [code]	Implementation of the various GLUT utilites used by the rigid body test-bed application
Utilities.h [code]	Declarations for various GLUT utilites for a rigid body application
WoRB.cpp [code]	Implementation of miscellaneous methods for some of WoRB classes
WoRB.h [code]	The World of Rigid Bodies (WoRB) Simulation Framework
WoRB_TestBed.cpp [code]	Implementation of the WoRB_TestBed, a GLUT based WoRB application
WoRB_TestBed.h [code]	Definitions for the WoRB_TestBed, which encapsulates a GLUT based test-bed application based on the WoRB framework