Crate oxiphysics_collision 

Collision detection algorithms including broad-phase and narrow-phase.

Provides broadphase (brute force, sweep-and-prune, BVH), narrowphase (GJK, EPA, specialized sphere/box/capsule tests), and contact manifold generation.

Re-exports

pub use types::CollisionEvent;

pub use types::CollisionFilter;

pub use types::CollisionPair;

pub use types::Contact;

pub use types::ContactManifold;

pub use types::FeatureId;

pub use types::MAX_CONTACTS;

pub use types::PhysicsMaterial;

pub use types::RichContact;

pub use types::RichContactManifold;

pub use broadphase::BroadPhase;

pub use broadphase::BruteForceBroadPhase;

pub use broadphase::BvhBroadphase;

pub use broadphase::SweepAndPrune;

pub use dbvt::BvhAabb;

pub use dbvt::DynamicBvh;

pub use narrowphase::BatchNarrowPhase;

pub use narrowphase::ContactFilter;

pub use narrowphase::NarrowPhaseContact;

pub use narrowphase::ShapeKind;

pub use narrowphase::shape_shape_contact;

pub use narrowphase::Epa;

pub use narrowphase::Gjk;

pub use narrowphase::NarrowPhaseDispatcher;

pub use ccd::CcdBodyEntry;

pub use ccd::CcdPair;

pub use ccd::CcdPipeline;

pub use ccd::CcdPipelineConfig;

pub use ccd::ConservativeAdvancement;

pub use ccd::RigidBodyState;

pub use ccd::ToiResult;

pub use ccd::advance_body_to;

pub use ccd::integrate_angular;

pub use ccd::integrate_linear;

pub use ccd::quat_mul;

pub use ccd::quat_normalize;

pub use ccd::quat_rotate;

pub use ccd::slerp_quat;

pub use ccd::time_of_impact;

pub use sweep::RayHit;

pub use sweep::SweepResult;

pub use sweep::aabb_aabb_overlap;

pub use sweep::point_aabb_dist_sq;

pub use sweep::ray_aabb;

pub use sweep::ray_sphere;

pub use sweep::ray_triangle;

pub use sweep::sphere_aabb_overlap;

pub use sweep::swept_aabb_aabb;

pub use sweep::swept_sphere_aabb;

pub use sweep::swept_sphere_sphere;

pub use gjk_epa::ConvexShape;

pub use gjk_epa::EpaFace;

pub use gjk_epa::EpaResult;

pub use gjk_epa::GjkBox;

pub use gjk_epa::GjkCapsule;

pub use gjk_epa::GjkSphere;

pub use gjk_epa::Simplex;

pub use gjk_epa::add3;

pub use gjk_epa::cross3;

pub use gjk_epa::do_simplex;

pub use gjk_epa::dot3;

pub use gjk_epa::epa;

pub use gjk_epa::gjk_distance;

pub use gjk_epa::gjk_epa_contact;

pub use gjk_epa::gjk_intersect;

pub use gjk_epa::len3;

pub use gjk_epa::minkowski_support;

pub use gjk_epa::normalize3;

pub use gjk_epa::scale3;

pub use gjk_epa::sub3;

pub use contact_graph::ContactCache;

pub use contact_graph::ContactGraph;

pub use contact_graph::ContactKey;

pub use contact_graph::PersistedContact;

pub use contact_graph::SpeculativeContact;

pub use contact_graph::speculative_contact;

pub use contact_graph::speculative_impulse;

pub use manifold_cache::CachingStrategy;

pub use manifold_cache::ContactIsland;

pub use manifold_cache::ContactManifoldCache;

pub use manifold_cache::ContactPointId;

pub use manifold_cache::ManifoldCompressor;

pub use manifold_cache::ManifoldLifetimeManager;

pub use manifold_cache::ManifoldMetrics;

pub use manifold_cache::ManifoldPointMatcher;

pub use manifold_cache::ManifoldReduction;

pub use manifold_cache::PersistentManifold;

pub use manifold_cache::age_cache_warm_start;

pub use manifold_cache::age_manifold_warm_start;

pub use manifold_cache::age_warm_start;

pub use manifold_cache::apply_position_corrections;

pub use manifold_cache::baumgarte_correction;

pub use manifold_cache::baumgarte_correction_slop;

pub use manifold_cache::build_contact_islands;

pub use manifold_cache::compute_manifold_metrics;

pub use manifold_cache::find_match_with_strategy;

pub use sat_collision::Capsule as SatCapsule;

pub use sat_collision::ContactFeature;

pub use sat_collision::ContactManifoldBuilder;

pub use sat_collision::ConvexPolyhedraSat;

pub use sat_collision::ConvexPolyhedron;

pub use sat_collision::ConvexPolytope;

pub use sat_collision::Obb;

pub use sat_collision::ObbBvh;

pub use sat_collision::ObbBvhNode;

pub use sat_collision::ObbCapsuleCollision;

pub use sat_collision::ObbCollision;

pub use sat_collision::ObbTree;

pub use sat_collision::ObbTriangleCollision;

pub use sat_collision::PolyhedraContact;

pub use sat_collision::PolytopeCollision;

pub use sat_collision::SatAxisCache;

pub use sat_collision::SatContact;

pub use sat_collision::SatContactPointGenerator;

pub use sat_collision::closest_points_on_segments;

pub use sat_collision::edge_edge_contact;

pub use sat_collision::obb_bvh_pair_query;

pub use sat_collision::obb_overlap_on_axis;

pub use sat_collision::obb_project;

pub use recast::RecastBuilder;

pub use recast::RecastConfig;

pub use recast::RecastError;

Modules

broadphase

Auto-generated module structure

ccd

Continuous Collision Detection (CCD) via conservative advancement.

compound_shapes

Compound and complex shape handling for collision detection.

contact_generation

Advanced contact manifold generation for collision detection.

contact_graph

Contact graph persistence and speculative contacts.

contact_manifold

Contact manifold generation and management.

dbvt

Auto-generated module structure

deformable_collision

Auto-generated module structure

fluid_collision

Fluid-solid collision and coupling for the OxiPhysics collision crate.

gjk_enhanced

Auto-generated module structure

gjk_epa

GJK (Gilbert-Johnson-Keerthi) and EPA (Expanding Polytope Algorithm) for convex shape collision detection using plain [f64; 3] arrays.

gjk_extended

Extended GJK/EPA algorithms.

joint_collision

Joint-limit collision: revolute, prismatic, and ball-socket angle limits modelled as constraints. Covers soft/hard stops, gear-ratio response, cable/chain limits, articulated-body joint stops, motor hard limits, joint friction as a constraint, compliance at limits, and warm-starting.

kdtree_collision

KD-tree based spatial queries and collision detection.

manifold_cache

Persistent contact manifold caching and warm-starting for stable simulation. Persistent contact manifold caching for stable simulation.

mesh_collision

Mesh collision detection: BVH for triangle meshes (AABB tree build/query), triangle-triangle intersection (Möller-Trumbore), mesh-mesh broad+narrow phase, deformable mesh collision (BVH refit), cloth self-collision, continuous collision detection for deformables, proximity query (distance field), swept triangle vs static mesh, penetration depth estimation, and contact manifold generation.

narrowphase

Auto-generated module structure

parallel_collision

Auto-generated module structure

proximity

Proximity query algorithms for collision detection.

proximity_query

Advanced proximity queries for collision detection.

query

Auto-generated module structure

ray_casting

Auto-generated module structure

recast

Recast-equivalent navmesh construction from triangle soup.

sap

Auto-generated module structure

sat_collision

Separating Axis Theorem (SAT) collision detection for OBBs and convex shapes. Auto-generated module structure

shape_cast

Shape casting (continuous collision detection / swept queries).

soft_body_collision

Soft body and cloth collision detection and response.

softbody_collision

Soft body collision detection: deformable meshes, cloth, self-collision.

spatial_queries

Advanced spatial queries.

sweep

Swept-primitive collision queries.

terrain_collision

Auto-generated module structure

types

Core collision detection types.

voxel_collision

Voxel-based collision detection.

Structs

ContextualCollector

Like ErrorCollector but stores ContextualError values.

ContextualError

An Error decorated with the body-pair indices that triggered it.

ErrorBudget

Tracks per-category error budgets for rate-limited triage.

ErrorCollector

Collects multiple non-fatal errors so the caller can inspect them in bulk after a simulation step, rather than short-circuiting on the first failure.

ErrorStats

Accumulates error counts per kind and severity for a simulation step.

RetryPolicy

Specifies how many times a failed collision query should be retried.

Enums

Error

Main error type for the collision module.

ErrorKind

Coarse classification of Error variants for programmatic branching.

RecoveryHint

Suggested recovery action for a failed collision query.

Severity

Severity level for runtime triage and logging.

Type Aliases

Result

Result type alias.