symtropy-physics 0.1.0

N-dimensional rigid body physics with GJK+EPA collision, CCD, joints, raycasting, and warm-starting. Pluggable PhysicsCallback trait for coupling custom metrics to forces and friction.
Documentation 
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// Copyright (C) 2024-2026 Tristan Stoltz / Luminous Dynamics
// SPDX-License-Identifier: AGPL-3.0-or-later
// Commercial licensing: see COMMERCIAL_LICENSE.md at repository root
//! Joint types for articulated bodies.
//!
//! All joints implement the `Constraint<D>` trait, using the same iterative
//! position + velocity solve pipeline as other constraints. Joints are
//! dimension-agnostic (const-generic `<const D: usize>`).

pub mod ball;
pub mod fixed;
pub mod hinge;

pub use ball::BallJoint;
pub use fixed::FixedJoint;
pub use hinge::HingeJoint;