Crate oxiphysics 

OxiPhysics — Unified Physics Engine

OxiPhysics is a pure-Rust, modular physics engine that re-exports all sub-crates for convenient, single-dependency access. It targets the same problem domains as Bullet, OpenFOAM, LAMMPS, and CalculiX.

Quick Start

use oxiphysics::core::math::Vec3;
use oxiphysics::core::Transform;

let t = Transform::default();
let v = Vec3::new(1.0, 2.0, 3.0);
let _transformed = t.transform_point(&v);

Module Overview

Module	Description
core	Math types, traits, ODE solvers, stochastic processes
geometry	Shape primitives and mesh utilities
collision	Broad-phase and narrow-phase collision detection
rigid	Rigid body dynamics
articulated	Featherstone articulated-body dynamics (RNEA + ABA)
constraints	Constraint / joint solvers
vehicle	Vehicle dynamics simulation
sph	Smoothed-particle hydrodynamics
lbm	Lattice Boltzmann method
fem	Finite element method
md	Molecular dynamics
softbody	Soft body / cloth simulation
materials	Material property database
gpu	GPU acceleration backends
viz	Visualization helpers
io	File I/O and serialization
pipeline	Full simulation pipeline
force_field	Spatial force fields (gravity wells, vortex, explosion)
event_bus	Physics event publish/subscribe system
replay	Deterministic simulation replay (record → replay)
query	Spatial queries — raycasting, sphere sweeps, overlaps
scene	Declarative scene description with JSON round-trip
snapshot	World-state snapshots with delta tracking
trigger	Trigger/sensor volumes — enter/exit/stay events
animation	Keyframe animation tracks (Vec3 + quaternion SLERP)
material_table	Runtime material interaction table with combine rules
debug_draw	Renderer-agnostic debug draw command buffer
contact_cache	Persistent contact pair cache with warm-start impulses
buoyancy	Archimedes buoyancy and drag forces for fluid volumes
scheduler	Priority-based physics step budget allocation per island
spatial_grid	Uniform spatial hash grid for fast neighbourhood queries
lod	Level-of-Detail simulation tier management
noise	Procedural 3D value noise and fractal Brownian motion
interpolator	Smooth damp, exp decay, spring followers, lerp utilities
telemetry	Per-step physics stats, rolling averages, CSV export
character	Kinematic capsule character controller with sweep-and-slide, step-up, and slope handling
rope	Rope / chain distance constraints with Verlet integration and Gauss-Seidel projection
xpbd	Extended Position-Based Dynamics integrator with compliance and Lagrange multipliers
ik	Inverse kinematics — FABRIK and 2-bone analytic IK with joint cone limits
profiler	Hierarchical scoped profiler with RAII guards, frame reports, and flamegraph export
aero	Aerodynamics — velocity-squared drag and airfoil lift/drag forces
navmesh	Navigation mesh with A* pathfinding and funnel-algorithm path smoothing
rollback	Snapshot-based rollback and deterministic lockstep input buffer

Stability Policy

Every public API is annotated with a stability level. See core::stability for details and the core::stability::HasStability trait for programmatic queries. Stable APIs follow semver; unstable and experimental APIs may change across minor releases.

Re-exports

pub use oxiphysics_core as core;

pub use oxiphysics_geometry as geometry;

pub use oxiphysics_collision as collision;

pub use oxiphysics_rigid as rigid;

pub use oxiphysics_articulated as articulated;

pub use oxiphysics_constraints as constraints;

pub use oxiphysics_vehicle as vehicle;

pub use oxiphysics_sph as sph;

pub use oxiphysics_lbm as lbm;

pub use oxiphysics_fem as fem;

pub use oxiphysics_md as md;

pub use oxiphysics_softbody as softbody;

pub use oxiphysics_materials as materials;

pub use oxiphysics_gpu as gpu;

pub use oxiphysics_viz as viz;

pub use oxiphysics_io as io;

pub use oxiphysics_wasm as wasm;

Modules

aero

Aerodynamics — velocity-squared drag and airfoil lift/drag forces. Aerodynamics — velocity-squared drag and airfoil lift/drag forces.

animation

Keyframe animation tracks (Vec3 lerp + quaternion SLERP) for scripted motion. Keyframe animation tracks for scripted body motion.

buoyancy

Archimedes buoyancy and viscous drag for bodies in fluid volumes. Archimedes buoyancy and viscous drag for bodies immersed in fluid volumes.

character

Kinematic capsule character controller with sweep-and-slide, step-up, and slope handling. Kinematic capsule character controller with sweep-and-slide, step-up, and slope handling.

contact_cache

Persistent contact pair cache with warm-start impulse data. Persistent contact pair cache with warm-starting support.

coupling

Cross-domain auto-coupling runtime (OxiCAR — Blueprint KF-1).

debug_draw

Renderer-agnostic debug draw command buffer for visualising physics state. Renderer-agnostic debug draw command buffer.

event_bus

Physics event publish/subscribe system. Physics event publish/subscribe system.

force_field

Spatial force fields (gravity wells, vortex, wind, explosion). Spatial force-field system for applying continuous forces to rigid bodies.

ik

Inverse kinematics — FABRIK and 2-bone analytic IK with joint cone limits. Inverse kinematics — FABRIK and 2-bone analytic IK with joint cone limits.

interpolator

Motion interpolation — smooth damp, exponential decay, spring followers. Motion interpolation — smooth damp, exponential decay, spring followers, and scalar / vector utility functions.

lod

Level-of-Detail simulation tier management. Level-of-Detail (LOD) simulation tier management.

material_table

Runtime material interaction table with combine rules and per-pair overrides. Runtime material interaction table.

navmesh

Navigation mesh with A* pathfinding and funnel-algorithm path smoothing. Navigation mesh with A* pathfinding and funnel-algorithm path smoothing.

noise

Procedural 3D value noise and fractal Brownian motion (fBm). Procedural 3D noise for turbulence, terrain, and force variation.

perf_regression

Performance regression testing infrastructure. Performance regression testing infrastructure.

pipeline

Full physics simulation pipeline. Full physics simulation pipeline.

profiler

Hierarchical scoped profiler with RAII guards, frame reports, and flamegraph export. Hierarchical scoped profiler with RAII guards, frame reports, and flamegraph export.

query

Spatial query API — ray casting, sphere sweeps, and overlap tests. Spatial query API — ray casting, sphere sweeps, and overlap tests.

replay

Deterministic simulation replay (record → serialise → replay). Deterministic simulation replay: record all external inputs and replay them.

rollback

Snapshot-based rollback and deterministic lockstep input buffer. Snapshot-based rollback and deterministic lockstep input buffer.

rope

Rope / chain distance constraints with Verlet integration and Gauss-Seidel projection. Rope / chain distance constraints with Verlet integration and Gauss-Seidel projection.

scene

Declarative scene description with JSON round-trip and fluent builder. Declarative scene description with JSON round-trip and a fluent builder.

scheduler

Priority-based physics step budget allocation per simulation island. Priority-based physics step budget allocation.

snapshot

World-state snapshots with delta tracking and ring-buffer history. World-state snapshots with delta tracking and a ring-buffer manager.

spatial_grid

Uniform spatial hash grid for fast neighbourhood queries. Uniform spatial hash grid for fast neighbourhood queries.

telemetry

Per-step physics telemetry, rolling averages, and CSV export. Physics simulation telemetry — per-step stats, rolling averages, and CSV export.

trigger

Trigger/sensor volumes — detect body enter/exit/stay without contact forces. Trigger / sensor volume system.

xpbd

Extended Position-Based Dynamics integrator with compliance and Lagrange multipliers. Extended Position-Based Dynamics (XPBD) integrator.

Structs

CouplingReport

Summary statistics produced by one coupler step.

CouplingRuntime

Manages a collection of coupled simulation domains.

FemSphCoupler

Penalty-based coupler linking a FEM domain (A) to an SPH domain (B).

InterfaceForce

Force to be applied at a single interface site.

InterfaceForceVec

Owned list of InterfaceForce entries — heap-allocated, not Copy.

InterfaceSite

A single point on the interface between two coupled domains.

InterfaceState

Sampled state at a single interface site.

InterfaceStateVec

Owned list of InterfaceState entries — heap-allocated, not Copy.

MdContinuumAdapter

Penalty coupler bridging an MD domain (A) and a continuum domain (B).

MockContinuumDomain

Mock continuum (FEM/FVM) domain for coupling tests.

MockMdDomain

Mock molecular-dynamics domain for coupling tests.

Enums

DomainKind

Identifies the physical domain type of a simulation region.

Traits

CouplingDomain

A simulation domain that can participate in cross-domain coupling.

DomainCoupler

A coupler that computes interface forces between two coupled domains.