Crate rhusics_core [−] [src]

Rhusics physics library

A physics library. Uses cgmath for all computation.

Features:

Two different broad phase collision detection implementations:
- Brute force
- Sweep and Prune
Narrow phase collision detection using GJK, and optionally EPA for full contact information
Functions for collision detection working on user supplied transform, and CollisionShape components. Can optionally use broad and/or narrow phase detection. Library supplies a transform implementation BodyPose for convenience.
Uses single precision as default, can be changed to double precision with the double feature.
Has support for doing spatial sort/collision detection using the collision-rs DBVT.
Support for doing broad phase using the collision-rs DBVT.
Has support for all primitives in collision-rs

collide2d	Type wrappers and convenience functions for 2D collision detection
collide3d	Type wrappers and convenience functions for 3D collision detection
physics2d	2D structures for physics
physics3d	3D structures for physics

BodyPose	Transform component used throughout the library
BruteForce	Broad phase collision detection brute force implementation.
CollisionShape	Collision shape describing a complete collision object in the collision world.
Contact	Contact manifold for a single collision contact point.
ContactEvent	Contains all contact information for a single contact, together with IDs of the colliding bodies
ForceAccumulator	Force accumulator for a rigid body.
Mass	Mass
Material	Physics material
NextFrame	Wrapper for data computed for the next frame
ResolveData	Data used for contact resolution
RigidBody	Rigid body
SingleChangeSet	Changes computed from contact resolution.
Velocity	Velocity

CollisionMode	Control continuous mode for shapes
CollisionStrategy	Collision strategy to use for collisions.

ApplyAngular	Apply an angular velocity to a rotational quantity
BroadPhase	Broad phase
Collider	Used to check if two shapes should be checked for collisions
CollisionData	Collision data used for performing a full broad + narrow phase
GetId	Trait used to extract the lookup id used by `CollisionData`, given the output from a broad phase
Inertia	Moment of inertia, used for abstracting over 2D/3D inertia tensors
NarrowPhase	Base trait implemented by all narrow phase algorithms.
PartialCrossProduct	Cross product abstraction
Primitive	Minkowski support function for primitive
Volume	Describe a shape with volume

basic_collide	Do basic collision detection (not using a DBVT)
next_frame_integration	Do force integration for next frame.
next_frame_pose	Compute next frame pose
resolve_contact	Perform contact resolution.
tree_collide	Do collision detection using a DBVT

SweepAndPrune2	Broad phase sweep and prune algorithm for 2D, see SweepAndPrune for more information.
SweepAndPrune3	Broad phase sweep and prune algorithm for 3D, see SweepAndPrune for more information.