Documentation for body objects

The simulator is able to model the interaction between the soil and multiple body types. Currently, two body types are supported:

• Excavator bucket, approximated as a triangular prism.

• Bulldozer blade, approximated as the combination of two rectangular prisms.

For each body type, an associated class is implemented derived from the Body base class. This creates an interface between the simulator and the considered body to make the implementation of new body types easier. The only functions that are specific to the body type are CalcBodyPos and WriteBody as they depends on the body shape.