Module gpu_rigid 

GPU-accelerated rigid body batch simulation (CPU mock).

Provides structs and functions for simulating many rigid bodies in batch, broadphase collision detection (SAP), and constraint solving via sequential impulse. All computation is done on the CPU as a reference implementation.

Structs

BroadphasePairGpu

A candidate collision pair from the broadphase, with AABB information.

ContactManifoldGpu

Contact manifold between two bodies produced by the narrowphase.

GpuBroadphase

Broadphase collision detection for GPU rigid bodies using a sweep-and-prune (SAP) approach.

GpuConstraintSolver

Iterative sequential-impulse constraint solver for rigid body contacts.

GpuRigidBody

A single rigid body stored in GPU-friendly packed arrays of f32.

GpuRigidBodyBatch

A batch of GPU rigid bodies supporting bulk integration.

Functions

integrate_orientation

Integrate a quaternion orientation q by angular velocity omega (rad/s) over time step dt (seconds).

quat_mul

Multiply two unit quaternions a and b (Hamilton product).

quat_normalize

Normalise a quaternion to unit length.

quat_rotate

Rotate vector v by unit quaternion q (format: [x, y, z, w]).