This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 123]

Csc::Connector	The connector is a handle in each slave, which can be constrained. The connector could be the slave center of mass (in the rigid body case) or something else. Depends on your subsystem
▼Csc::Constraint	Base class for constraints
▼Csc::BallJointConstraint	Connects the connectors with a ball joint
Csc::LockConstraint	Locks all 6 degrees of freedom between two connectors
Csc::Equation	Base class for equations. Constrains two instances of Connector
Csc::JacobianElement	An element containing 6 entries, 3 spatial and 3 rotational degrees of freedom
Csc::Mat3	3x3 Matrix class
Csc::Quat	Quaternion class
Csc::RigidBody	Simple rigid body class for testing
Csc::Slave	Represents a subsystem and holds connectors
Csc::Solver	Holds all slaves and constraints in the system, and solves for constraint forces
Csc::Vec3	3D vector class