Physics library for use in Specs, using cgmath and collision-rs.

Example

extern crate cgmath;
extern crate rhusics;
extern crate specs;

use cgmath::{Point2, Rad, Rotation2, Transform};
use specs::{RunNow, World};

use rhusics::collide2d::{world_register, BasicCollisionSystem2, BodyPose2, BroadBruteForce2,
                         CollisionMode, CollisionShape2, CollisionStrategy, Contacts2, GJK2,
                         Rectangle};

pub fn main() {
    let mut world = World::new();
    world_register::<BodyPose2>(&mut world);

    world
        .create_entity()
        .with(CollisionShape2::<BodyPose2>::new_simple(
            CollisionStrategy::FullResolution,
            CollisionMode::Discrete,
            Rectangle::new(10., 10.).into(),
        ))
        .with(BodyPose2::one());

    world
        .create_entity()
        .with(CollisionShape2::<BodyPose2>::new_simple(
            CollisionStrategy::FullResolution,
            CollisionMode::Discrete,
            Rectangle::new(10., 10.).into(),
        ))
        .with(BodyPose2::new(
            Point2::new(3., 2.),
            Rotation2::from_angle(Rad(0.)),
        ));

    let mut system = BasicCollisionSystem2::<BodyPose2>::new()
        .with_broad_phase(BroadBruteForce2::default())
        .with_narrow_phase(GJK2::new());
    system.run_now(&world.res);
    println!("Contacts: {:?}", *world.read_resource::<Contacts2>());
}

Features:

• Has support for all primitives in collision-rs
• Has support for the following broad phase algorithms in collision-rs:
  • Brute force
  • Sweep and Prune
• Narrow phase collision detection using GJK, and optionally EPA for full contact information
• specs::System for collision detection working on user supplied transform, and shape components. Can optionally use broad and/or narrow phase detection. Library supplies a transform implementation for convenience.
• specs::System for spatial sorting on user supplied transform, and shape components.
• 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.

TODO:

• Continuous collision detection, using GJK
• Impulse solver