oxiphysics-collision

[Alpha] High-performance collision detection pipeline for the OxiPhysics engine.

Part of the OxiPhysics project.

Overview

oxiphysics-collision implements the full collision detection stack: broad-phase pruning, narrow-phase exactalgorithms, continuous collision detection, contact generation and caching, deformable/soft-body support, and parallel batch processing. 34+ modules, 2,625 public items, 2,439 passing tests, 0 stubs.

Features

• Broad phase — Sweep-and-Prune (SweepAndPrune), Dynamic BVH (DynamicBvh), SAP and DBVT variants
• Narrow phase — GJK+EPA (Gjk, Epa), enhanced/extended GJK, SAT, NarrowPhaseDispatcher, BatchNarrowPhase
• Continuous collision — CcdPipeline, shape casting (shape_cast)
• Contact management — ContactManifold, ContactGraph, manifold cache, contact generation
• Ray queries — ray_aabb, ray_sphere, ray_triangle; full spatial query API
• Deformable & soft-body — deformable_collision, soft_body_collision
• Mesh & voxel — mesh_collision, voxel_collision, terrain_collision
• Filtering — CollisionFilter, proximity detection, compound shape dispatch
• Parallel — parallel_collision for multi-threaded broad/narrow phase
• k-d tree — kdtree_collision for static scene queries

Modules (34+)

broadphase · ccd · compound_shapes · contact_generation · contact_graph · contact_manifold · dbvt · deformable_collision · gjk_epa · gjk_enhanced · gjk_extended · kdtree_collision · manifold_cache · mesh_collision · narrowphase · parallel_collision · proximity · ray_casting · sap · sat_collision · shape_cast · soft_body_collision · spatial_queries · sweep · terrain_collision · types · voxel_collision · …

Quick Example

use oxiphysics_collision::{BroadPhase, SweepAndPrune, Gjk, ContactManifold};
use oxiphysics_geometry::{Sphere, BoxShape};

let mut broad = SweepAndPrune::new();
broad.insert(0, sphere_aabb);
broad.insert(1, box_aabb);

let pairs = broad.overlapping_pairs();
for (a, b) in pairs {
    let mut gjk = Gjk::new();
    if let Some(contact) = gjk.intersect(&shapes[a], &shapes[b]) {
        let manifold = ContactManifold::from_contact(contact);
        println!("penetration depth: {:.4}", manifold.depth());
    }
}

License

Apache-2.0 — Copyright 2026 COOLJAPAN OU (Team Kitasan)