Geometries are fundamental to simulation in Marilou. They determine the physical behavior as well as the aspect of the objects that make up a world. 

Physical geometries comprise the collision model between entities that are subject to the laws of physics. These shapes (assemblies) are used in the physics simulator (handling collisions, friction, force, etc.).

This illustration shows a simple manipulation arm collision shape. It is composed of native geometries, rigid bodies, and joints.

Physical geometries are covered either by basic shapes or by one or more rendered entities. 

Rendered geometries are used to make simulation more realistic. This "covering" does not have any effect on physics-related actions.

Manipulation arm covered by one or more 3-D models 

Concepts