Flags affecting whether or not collision-detection happens between two colliders
depending on the type of rigid-bodies they are attached to.
Flags affecting the events generated for this collider.
Flags affecting the behavior of the constraints solver for a given contact manifold.
The Arena allows inserting and removing elements that are referred to by
Index.
A pair of rigid body handles.
A broad-phase combining a Hierarchical Grid and Sweep-and-Prune.
Solver responsible for performing motion-clamping on fast-moving bodies.
A collision event handler that collects events into a crossbeam channel.
A container for data associated to item existing into another Arena.
A geometric entity that can be attached to a body so it can be affected by contacts and proximity queries.
Data associated to a collider that takes part to a broad-phase algorithm.
A structure responsible for building a new collider.
Flags describing how the collider has been modified by the user.
A set of flags for controlling collision/intersection filtering, modification, and events.
The unique identifier of a collider added to a collider set.
The constraints solver-related properties of this collider (friction, restitution, etc.)
A pair of collider handles.
Information about the rigid-body this collider is attached to.
The position of a collider.
A set of colliders that can be handled by a physics World.
Flags providing more information regarding a collision event.
The collision pipeline, responsible for performing collision detection between colliders.
A compound shape with an aabb bounding volume.
A single contact between two collider.
Event occurring when the sum of the magnitudes of the contact forces
between two colliders exceed a threshold.
A contact manifold between two colliders.
Context given to custom contact modifiers to modify the contacts seen by the constraints solver.
The description of all the contacts between a pair of colliders.
A convex polyhedron without degenerate faces.
A fixed joint, locks all relative motion between two bodies.
Create fixed joints using the builder pattern.
A generic joint.
Create generic joints using the builder pattern.
A bit mask identifying groups for interaction.
A half-space delimited by an infinite plane.
The status of the cell of an heightfield.
Flags controlling the behavior of some operations involving heightfields.
An iterator through all the triangles around the given point, after vertical projection on the heightfield.
An impulse-based joint attached to two bodies.
The unique identifier of a joint added to the joint set.
The unique identifier of a collider added to a collider set.
A set of impulse_joints that can be handled by a physics World.
An index (and generation) into an Arena.
Parameters for a time-step of the physics engine.
A graph where nodes are collision objects and edges are contact or proximity algorithms.
Pairwise filtering using bit masks.
The description of all the contacts between a pair of colliders.
Options for the jacobian-based Inverse Kinematics solver for multibodies.
Structure responsible for maintaining the set of active rigid-bodies, and
putting non-moving rigid-bodies to sleep to save computation times.
A bit mask identifying multiple degrees of freedom of a joint.
The limits of a joint along one of its degrees of freedom.
A joint’s motor along one of its degrees of freedom.
Flags affecting the behavior of the constraints solver for a given contact manifold.
The local mass properties of a rigid-body.
An articulated body simulated using the reduced-coordinates approach.
The temporary index of a multibody added to a MultibodyJointSet.
An joint attached to two bodies based on the reduced coordinates formalism.
The unique handle of an multibody_joint added to a MultibodyJointSet.
A set of rigid bodies that can be handled by a physics pipeline.
One link of a multibody.
Indexes usable to get a multibody link from a MultibodyJointSet.
The narrow-phase responsible for computing precise contact information between colliders.
A feature id where the feature type is packed into the same value as the feature index.
Context given to custom collision filters to filter-out collisions.
The physics pipeline, responsible for stepping the whole physics simulation.
A polygonal feature representing the local polygonal approximation of
a vertex, face, or edge of a convex shape.
A polyline.
A prismatic joint, locks all relative motion between two bodies except for translation along the joint’s principal axis.
Create prismatic joints using the builder pattern.
A filter that describes what collider should be included or excluded from a scene query.
Flags for excluding whole sets of colliders from a scene query.
A pipeline for performing queries on all the colliders of a scene.
A revolute joint, locks all relative motion except for rotation along the joint’s principal axis.
Create revolute joints using the builder pattern.
A rigid body.
The rb_activation status of a body.
A builder for rigid-bodies.
Information used for Continuous-Collision-Detection.
Flags describing how the rigid-body has been modified by the user.
The set of colliders attached to this rigid-bodies.
Damping factors to progressively slow down a rigid-body.
The dominance groups of a rigid-body.
The user-defined external forces applied to this rigid-body.
The unique handle of a rigid body added to a RigidBodySet.
Internal identifiers used by the physics engine.
The mass properties of a rigid-body.
The position of this rigid-body.
A set of rigid bodies that can be handled by a physics pipeline.
The velocities of this rigid-body.
A rope joint, limits the maximum distance between two bodies
Create rope joints using the builder pattern.
A shape with rounded borders.
The shape of a collider.
A contact seen by the constraints solver for computing forces.
Flags affecting the behavior of the constraints solver for a given contact manifold.
A spherical joint, locks all relative translations between two bodies.
Create spherical joints using the builder pattern.
A spring-damper joint, applies a force proportional to the distance between two objects.
A tetrahedron with 4 vertices.
A face of a triangle-mesh’s half-edge topology.
A half-edge of a triangle-mesh’s half-edge topology.
A vertex of a triangle-mesh’s half-edge topology.
A single contact between two shape.
A triangle mesh.
The connected-components of a triangle mesh.
The status of the cell of an heightfield.
The set of pseudo-normals of a triangle mesh.
The half-edge topology information of a triangle mesh.
The pseudo-normals of a triangle providing approximations of its feature’s normal cones.
An axis-aligned bounding box.
The dimension of the rotations.
The angular vector type.
The angular inertia of a rigid body.
A ball shape.
The type of a body, governing the way it is affected by external forces.
A capsule shape.
Index of a node of the interaction graph.
The shape of a collider.
A cone shape.
A contact between two colliders.
A contact manifold between two colliders.
A matrix that represent the cross product with a given vector.
A cuboid shape.
A cylindrical shape.
A dynamically sized column-major matrix.
A dynamically sized column vector.
The default broad-phase implementation recommended for general-purpose usage.
The dimension of the ambient space.
A heightfield shape.
The transformation matrix type.
The type of a constraint Jacobian in twist coordinates.
The type of a slice of the constraint Jacobian in twist coordinates.
The type of a mutable slice of the constraint Jacobian in twist coordinates.
The matrix type.
The orientation type.
The point type.
The projection of a point on a collider.
The principal angular inertia of a rigid body.
A ray that can be cast against colliders.
The intersection between a ray and a collider.
The scalar type used throughout this crate.
Index of a node of the interaction graph.
The rotation matrix type.
A cone dilated by a sphere (so it has round corners).
A convex polyhedron dilated by a sphere (so it has round corners).
A cuboid dilated by a sphere (so it has round corners).
A cylinder dilated by a sphere (so it has round corners).
A triangle dilated by a sphere (so it has round corners).
A 3D symmetric-definite-positive matrix.
A segment shape.
The result of a shape-cast between two shapes.
A SIMD bool with SIMD_WIDTH lanes.
A SIMD float with SIMD_WIDTH lanes.
A vector with a dimension equal to the maximum number of degrees of freedom of a rigid body.
The dimension of a spatial vector.
The vector type with dimension SpatialDim × 1.
The type of impulse applied for friction constraints.
Temporary index to and edge of the interaction graph.
The translation type.
A triangle shape.
The unit vector type.
The vector type.