Crate oxiphysics_core

Expand description

Core types, traits, and abstractions for the OxiPhysics engine.

This crate provides fundamental building blocks used across all OxiPhysics sub-crates, including vector/quaternion types, transforms, bounding volumes, and core simulation traits.

All other OxiPhysics crates should import math types from oxiphysics_core::math rather than depending on nalgebra directly.

Re-exports§

pub use linalg::characteristic_poly3;
pub use linalg::det3;
pub use linalg::frobenius_norm3;
pub use linalg::inv3;
pub use linalg::is_symmetric3;
pub use linalg::polar_decomp3;
pub use linalg::qr_decomp3;
pub use linalg::solve3;
pub use linalg::svd3;
pub use linalg::symmetric_eigen3;
pub use linalg::symmetric_eigenvalues3;
pub use linalg::trace3;
pub use stochastic::GeometricBrownianMotion;
pub use stochastic::LangevinDynamics;
pub use stochastic::OrnsteinUhlenbeck;
pub use stochastic::RandomWalk;
pub use stochastic::Rng;
pub use stochastic::WienerProcess;
pub use stochastic::autocorrelation;
pub use stochastic::diffusion_coefficient;
pub use stochastic::euler_maruyama;
pub use stochastic::milstein;
pub use world::Body;
pub use world::BodyArena;
pub use world::BodyMode;
pub use world::BodyVelocity;
pub use world::Constraint;
pub use world::ConstraintKind;
pub use world::Island;
pub use world::PhysicsEvent;
pub use world::PhysicsWorld;
pub use crate::math::Mat3;
pub use crate::math::Quat;
pub use crate::math::Real;
pub use crate::math::Vec3;
pub use dual_quaternion::*;
pub use interpolation::*;
pub use numerics::*;
pub use statistics::*;
pub use tensor::*;

Modules§

adaptive_timestepping: Unified adaptive time-stepping module for multi-domain physics simulations.
autodiff: Forward-mode automatic differentiation using dual numbers.
bayesian_inference: Bayesian inference: priors, likelihoods, posterior updates, MCMC, Bayesian linear regression, Gaussian processes, and model selection.
bayesian_opt: Bayesian optimization with Gaussian process surrogates.
cache_layout: Cache-optimized data layouts for particle-based simulations.
category_theory: Auto-generated module structure
causal_inference: Causal inference and structural causal models.
chaos_theory: Chaos theory and nonlinear dynamics.
collision: Collision detection primitives: GJK/EPA narrowphase, SAT, sphere/capsule tests, BVH broadphase, and contact manifold generation.
complex: Auto-generated module structure
complex_analysis: Complex analysis, special functions, and conformal mappings.
compressed_sensing: Compressed sensing and sparse signal recovery algorithms.
continuation: Numerical continuation and bifurcation analysis.
control: Control theory and systems: PID, state-space, transfer functions, Bode analysis, LQR, Kalman filter, MPC, adaptive control, fuzzy control, and neural controller.
control_systems: Auto-generated module structure
control_theory: Control theory: PID, state-space, LQR, Kalman filter, EKF, Bode analysis, root locus, Ziegler-Nichols auto-tuning, lead/lag compensator, poles/zeros.
convex_analysis: Convex analysis, proximal operators, and constrained optimisation.
differential_geometry: Auto-generated module structure
dimensionless: Dimensionless number calculations and similarity analysis.
dual_quaternion: Dual quaternions for rigid body transformations and screw motions.
dynamic_systems: Dynamical systems — maps, flows, bifurcations, synchronisation.
dynamical_systems: Dynamical systems analysis: ODE fixed points, Lyapunov exponents, bifurcations, phase plane, Poincaré sections, strange attractors, chaos indicators (RQA), Hamiltonian systems, KAM tori, and symplectic integration.
ergodic_theory: Ergodic theory and dynamical systems analysis.
finite_difference: Finite difference schemes for PDEs in 1D, 2D, and 3D.
formal_verification: Formal verification methods for physics simulation correctness.
fractional_calculus: Fractional calculus module for the OxiPhysics engine.
functional_analysis: Functional analysis tools for physics simulation.
game_theory: Auto-generated module structure
geometry_primitives: Low-level geometry primitives: Ray, AABB, Sphere, Plane, Triangle, Capsule, OrientedBox, Frustum, convex polyhedron, and barycentric coordinates.
graph: Auto-generated module structure
information_geometry: Information geometry and statistical manifolds.
information_theory: Auto-generated module structure
interpolation: Auto-generated module structure
interval: Auto-generated module structure
linalg: Auto-generated module structure
machine_learning: Auto-generated module structure
math: Core math types and operations for the OxiPhysics engine.
measure_theory: Measure theory: sigma-algebras, Lebesgue measure, probability measures, signed measures, product measures, and numerical Lebesgue/Monte Carlo integration.
metric_spaces: Metric space abstractions and concrete metric implementations.
monte_carlo: Monte Carlo methods for physics simulation.
multiscale_methods: Auto-generated module structure
network_dynamics: Network/graph dynamics: epidemic models, opinion dynamics, synchronization.
neural_ode: Neural ODE (continuous-depth neural networks) implementations.
numerical_integration: Numerical integration methods.
numerical_linear_algebra: Auto-generated module structure
numerical_methods: Numerical methods: root finding, ODE solvers, BVP, finite differences, numerical differentiation, quadrature, matrix decompositions, eigensolvers, continuation methods, and bifurcation detection.
numerical_methods_ext: Extended numerical methods: integral equations, BEM, radial basis functions.
numerical_ode: Numerical ODE solvers with event detection and dense output.
numerics: Numerical algorithms for physics simulation.
ode: Auto-generated module structure
optimization: Auto-generated module structure
parallel: Auto-generated module structure
parallel_orchestrator: Parallel solver orchestration for multi-stage physics pipelines.
pde: Auto-generated module structure
pde_solvers: Finite-difference PDE solvers for common one-dimensional equations.
persistent_homology: Persistent homology and topological data analysis.
petri_nets: Petri net modeling for concurrent discrete event systems.
probabilistic_models: Probabilistic models including Bayesian networks, HMMs, Gaussian processes, Dirichlet processes, variational inference, and expectation-maximization.
quadrature: Numerical quadrature (numerical integration) methods.
random: Auto-generated module structure
random_processes: Random processes: Brownian motion, Poisson processes, Markov chains, continuous-time Markov chains, Lévy processes, and SDE solvers.
renormalization_group: Renormalization group (RG) theory computations.
sampling: Auto-generated module structure
signal: Auto-generated module structure
signal_analysis: Signal analysis: autocorrelation, cross-correlation, PSD, Hilbert transform, empirical mode decomposition, peak detection, and signal filtering.
signal_processing: Signal processing: FFT, windowing, filtering, spectral analysis, wavelets.
simd_math: SIMD-accelerated math kernels for batch vector and particle operations.
sparse: Auto-generated module structure
spatial: Auto-generated module structure
spectral_methods: Spectral methods for numerical analysis and physics simulations.
stability: API stability markers for OxiPhysics.
statistical_mechanics: Statistical mechanics: ensembles, Ising model, phase transitions, fluctuation-dissipation, Green-Kubo relations, and equations of state.
statistics: Auto-generated module structure
stochastic: Auto-generated module structure
stochastic_processes: Stochastic processes for simulation and financial/physical modeling.
symbolic_algebra: Auto-generated module structure
symbolic_math: Symbolic mathematics: expression trees, evaluation, differentiation, and simplification.
tensor: Tensor algebra operations for continuum mechanics.
time_series_analysis: Time-series analysis utilities: statistics, filtering, autocorrelation, trend decomposition, spectral analysis, change-point detection, and AR models.
topological_data: Topological Data Analysis (TDA) — persistent homology utilities.
topology: Computational topology and algebraic topology.
topology_optimization: Topology optimization methods including SIMP, level-set, and manufacturing filters.
uncertainty_quantification: Uncertainty Quantification (UQ) methods for physics simulation.
unit_conversion: Unit conversion and fundamental physical constants.
wavelet_transform: Auto-generated module structure
wavelets: Wavelet transforms for signal analysis in physics simulations.
world: Auto-generated module structure

Structs§

Aabb: Axis-aligned bounding box for broad-phase collision detection.
AdamsBashforth2: Adams-Bashforth 2-step explicit integrator.
BodyHandle: Handle to a rigid body, with generation counter for safe reuse.
BoundingBox3D: A 3-D axis-aligned bounding box with richer query helpers.
Capsule: A capsule: a line segment swept by a sphere.
ColliderHandle: Handle to a collider, with generation counter for safe reuse.
ContactPoint: A contact point produced by narrowphase collision detection.
DefaultConfigs: Pre-built configurations for common physics scenarios.
DiagnosticInfo: Diagnostic information attached to an error for debugging.
ErrorCollector: Collect multiple errors during a batch operation.
ExplicitEuler: Classic explicit (forward) Euler integrator.
ImplicitEuler: Implicit (backward) Euler integrator — unconditionally stable.
LayerFilter: A simple bitmask-based collision filter.
Leapfrog: Leapfrog (Störmer-Verlet) integration.
MassProperties: Mass properties of a rigid body.
Midpoint: Explicit midpoint (Runge-Kutta 2) integrator.
PbdDistanceConstraint: A simple PBD distance constraint between two particles.
PhysicsConfig: Global physics configuration.
PhysicsConfigBuilder: Builder for PhysicsConfig with a fluent API.
PhysicsMaterial: Physical surface properties.
Plane: An infinite plane defined by normal and offset.
Plane3D: An infinite plane stored with plain [f64; 3] arrays (no nalgebra).
Ray: A ray in 3D space defined by an origin and a unit-direction vector.
Ray3D: A ray in 3-D space stored with plain [f64; 3] arrays (no nalgebra).
RayAabbHit: Result of a ray–AABB intersection test.
RungeKutta4: 4th-order Runge-Kutta integrator (position only, given an acceleration field).
SemiImplicitEuler: Semi-implicit (symplectic) Euler integrator.
SolverDiagnostics: Tracks solver convergence history and diagnostics.
Sphere: A sphere in 3D space.
SphereSensor: A spherical proximity sensor.
TimeStep: A discrete simulation time step.
Transform: Transform representing position and orientation in 3D space.
Transform3D: A 3-D transform stored as position + quaternion (xyzw) + uniform scale, using plain arrays to avoid nalgebra dependencies outside oxiphysics-core.
Triangle: A triangle in 3D space.
VelocityVerlet: Velocity Verlet integration scheme.

Enums§

Error: Main error type for the core module (legacy)
ErrorSeverity: Severity level for physics errors.
PhysicsError: Unified error type for the physics engine.

Traits§

Broadphase: Trait for broadphase collision detection structures.
Collidable: Trait for objects that can participate in collision detection.
CollisionFilter: Trait for filtering which body pairs participate in collision detection.
Damped: Trait for objects that model energy dissipation.
ForceSource: Trait for objects that apply forces to bodies (gravity fields, springs, etc.).
HasMaterial: Trait for objects that expose a surface material.
Integrator: Trait for numerical time integrators.
Narrowphase: Trait for narrowphase collision queries.
PbdConstraint: Trait for PBD position constraints.
PhysicsBody: Trait for objects that represent a physics body.
PhysicsConstraint: Trait for position/velocity-level constraints between bodies.
PhysicsDiagnostics: Trait for physics objects that can emit diagnostic information.
PhysicsInterpolatable: Trait for physics state objects that support linear interpolation.
PhysicsSensor: Trait for physics sensors (trigger volumes, proximity detectors, etc.).
PhysicsStateful: Trait for objects whose full physics state can be captured and restored.
Renderable: Trait for physics objects that can provide render-ready data.
Sleepable: Trait for bodies that can sleep when below activity thresholds.
Steppable: Trait for objects that can be stepped forward in time.

Functions§

check_finite: Returns Ok(value) if finite, otherwise Err(NumericalDivergence).
check_finite_slice: Check that a slice contains no NaN or infinite values.
check_finite_vec3: Check that a 3D vector has finite components.
check_index: Returns Ok(index) if index < max, otherwise Err(OutOfBounds).
check_lbm_mach: Check that the LBM Mach number is below the stability limit.
check_md_timestep: Check that an MD time step is reasonable (positive and not too large).
check_non_negative: Returns Ok(value) if value >= 0, otherwise Err(InvalidInput).
check_poisson_ratio: Check Poisson’s ratio is in the valid range (-1, 0.5) for 3D.
check_positive: Returns Ok(value) if value > 0, otherwise Err(InvalidInput).
check_range: Returns Ok(value) if min <= value <= max, otherwise Err(InvalidInput).
check_sph_density: Check that SPH density is positive.
contact_impulse_scalar: Velocity-level constraint impulse for a contact constraint (Baumgarte-free).
fabrik_solve: FABRIK (Forward And Backward Reaching Inverse Kinematics) solver.
pbd_solve_iteration: Solve one PBD iteration over a set of constraints.
xpbd_distance_correction: XPBD position-level constraint correction for a distance constraint.

Type Aliases§

PhysicsResult: Result alias using PhysicsError.
Result: Result type alias (legacy)

Crate oxiphysics_core

Crate oxiphysics_core Copy item path

Re-exports§

Modules§

Structs§

Enums§

Traits§

Functions§

Type Aliases§

Crate oxiphysics_core