* \note To increase performance group constraints body and pointwise such

* that constraints acting on the same body point are sequentially in

- * ContactData. This can save computation of point jacobians \f$G\f$.

+ * ConstraintSet. This can save computation of point jacobians \f$G\f$.

* \param model rigid body model

* \param Q state vector of the internal joints

* \param QDot velocity vector of the internal joints

* \param Tau actuations of the internal joints

- * \param Con~~tactData a~~ list of all contact points

+ * \param ConstraintSet list of all contact points

* \param QDDot accelerations of the internals joints (output)

- * \note During execution of this function the values ContactData[i].force

- * get modified and will contain the value of the force acting along

+ * \note During execution of this function values such as

+ * ConstraintSet::constraint_force get modified and will contain the value

+ * of the force acting along the normal.

void ForwardDynamicsContactsLagrangian (

* \note To increase performance group constraints body and pointwise such

* that constraints acting on the same body point are sequentially in

- * Con~~tactData~~. This can save computation of point jacobians \f$G\f$.

+ * ConstraintSet. This can save computation of point jacobians \f$G\f$.

* \param model rigid body model

* \param Q state vector of the internal joints

-/** \brief Computes forward dynamics that accounts for active contacts in Con~~tactData~~

+/** \brief Computes forward dynamics that accounts for active contacts in ConstraintSet.

* The method used here is the one described by Kokkevis and Metaxas in the

* Paper "Practical Physics for Articulated Characters", Game Developers

* \param Q state vector of the internal joints

* \param QDot velocity vector of the internal joints

* \param Tau actuations of the internal joints

- * \param C~~ontactData ~~a list of all contact points

+ * \param CS a list of all contact points

* \param QDDot accelerations of the internals joints (output)

- * \note During execution of this function the values ContactData[i].force

- * get modified and will contain the value of the force acting along

+ * \note During execution of this function values such as

+ * ConstraintSet::constraint_force get modified and will contain the value

+ * of the force acting along the normal.

* \todo Allow for external forces

*/void ForwardDynamicsContacts (