phyz-collision

GJK/EPA collision detection for phyz.

Narrow-phase distance and penetration between convex shapes, plus a sweep-and-prune broad phase.

Shapes are described by Geometry (Sphere, Capsule, Box, Cylinder, Mesh, Plane) and bounded by AABB. Results come back as Collision records that phyz-contact turns into forces.

Example

use phyz_collision::{AABB, Geometry, gjk_distance, sweep_and_prune};
use phyz_math::Vec3;

let a = Geometry::Sphere { radius: 0.5 };
let b = Geometry::Sphere { radius: 0.5 };

let d = gjk_distance(&a, &b, &Vec3::zeros(), &Vec3::new(2.0, 0.0, 0.0));

// Broad phase over a set of AABBs.
let boxes = vec![
    AABB::new(Vec3::new(-1.0, -1.0, -1.0), Vec3::new(0.0, 0.0, 0.0)),
    AABB::new(Vec3::new(-0.5, -0.5, -0.5), Vec3::new(0.5, 0.5, 0.5)),
];
let pairs = sweep_and_prune(&boxes);

Part of phyz

phyz is an open-source differentiable multi-physics simulation workspace in pure Rust. Each crate is independent — adding this one does not pull in the rest.

Licensed under MIT.