Crate oxiphysics_geometry 

Geometric shape types for collision detection and physics simulation.

Provides primitives (sphere, box, capsule, cylinder, cone) and complex shapes (convex hull, triangle mesh, compound, height field) with support point queries, volume/inertia computation, and ray casting.

Re-exports

pub use shape::RayHit;

pub use shape::Shape;

pub use sphere::Sphere;

pub use box_shape::BoxShape;

pub use capsule::Capsule;

pub use cylinder::Cylinder;

pub use cone::Cone;

pub use convex_hull::functions::approximate_convex_decomposition;

pub use convex_hull::functions::box_support;

pub use convex_hull::functions::capsule_support;

pub use convex_hull::functions::chamfer_build;

pub use convex_hull::functions::chamfer_hull;

pub use convex_hull::functions::cylinder_support;

pub use convex_hull::functions::deduplicate_points;

pub use convex_hull::functions::ellipsoid_support;

pub use convex_hull::functions::gjk_intersect;

pub use convex_hull::functions::hull_aspect_ratio;

pub use convex_hull::functions::hull_face_normals;

pub use convex_hull::functions::hull_face_offsets;

pub use convex_hull::functions::hull_sphericity;

pub use convex_hull::functions::icosahedron_vertices;

pub use convex_hull::functions::lower_hull_2d;

pub use convex_hull::functions::minkowski_difference_hull;

pub use convex_hull::functions::minkowski_difference_hulls;

pub use convex_hull::functions::minkowski_sum_hull;

pub use convex_hull::functions::minkowski_sum_hulls;

pub use convex_hull::functions::monotone_chain_hull_2d;

pub use convex_hull::functions::octahedron_vertices;

pub use convex_hull::functions::point_cloud_aabb;

pub use convex_hull::functions::point_cloud_centroid;

pub use convex_hull::functions::point_cloud_covariance;

pub use convex_hull::functions::simplify_hull_points;

pub use convex_hull::functions::sphere_support;

pub use convex_hull::functions::tetrahedron_vertices;

pub use convex_hull::functions::upper_hull_2d;

pub use convex_hull::functions::vertex_decimation;

pub use convex_hull::types::ConvexHull;

pub use convex_hull::types::ConvexHull3D;

pub use convex_hull::types::ConvexHullAabb;

pub use convex_hull::types::HullWithQuality;

pub use convex_hull::types::IncrementalConvexHull;

pub use triangle_mesh::TriangleMesh;

pub use heightfield::HeightField;

pub use compound::Compound;

pub use torus::Torus;

pub use mesh_ops::TriMesh;

pub use quickhull::ConvexHull3DVec;

pub use offset_surface::OffsetMesh;

pub use offset_surface::Sdf;

pub use offset_surface::SdfBox;

pub use offset_surface::SdfCapsule;

pub use offset_surface::SdfCone;

pub use offset_surface::SdfCylinder;

pub use offset_surface::SdfDifference;

pub use offset_surface::SdfIntersection;

pub use offset_surface::SdfOffset;

pub use offset_surface::SdfPlane;

pub use offset_surface::SdfScaled;

pub use offset_surface::SdfSmoothIntersection;

pub use offset_surface::SdfSmoothUnion;

pub use offset_surface::SdfSphere;

pub use offset_surface::SdfTorus;

pub use offset_surface::SdfTranslated;

pub use offset_surface::SdfUnion;

pub use offset_surface::VoxelSdf;

pub use offset_surface::approximate_medial_axis;

pub use offset_surface::detect_edge_features;

pub use offset_surface::extract_zero_crossings_slice;

pub use offset_surface::generate_shell;

pub use offset_surface::inward_offset;

pub use offset_surface::offset_curve_3d;

pub use offset_surface::offset_polyhedron;

pub use offset_surface::outward_offset;

pub use offset_surface::variable_offset;

pub use point_cloud::functions::aabb_extent;

pub use point_cloud::functions::compute_bounding_box;

pub use point_cloud::functions::compute_point_cloud_normals;

pub use point_cloud::functions::estimate_normals;

pub use point_cloud::functions::farthest_point_sampling;

pub use point_cloud::functions::fpfh_feature;

pub use point_cloud::functions::icp_align;

pub use point_cloud::functions::icp_point_to_point;

pub use point_cloud::functions::pca_obb;

pub use point_cloud::functions::ransac_fit_plane;

pub use point_cloud::functions::statistical_outlier_removal;

pub use point_cloud::functions::voxel_downsample;

pub use point_cloud::types::IcpRegistration;

pub use point_cloud::types::IcpResult;

pub use point_cloud::types::KdNode3D;

pub use point_cloud::types::KdTree3D;

pub use point_cloud::types::NormalEstimation;

pub use point_cloud::types::PointCloud;

pub use point_cloud::types::PointCloudFilter;

pub use point_cloud::types::RansacPlaneResult;

pub use mesh_param::LscmParameterization;

pub use mesh_param::ParamTriMesh;

pub use mesh_param::TutteParameterization;

pub use mesh_param::boundary_vertices;

pub use mesh_param::build_halfedge;

pub use mesh_param::fill_holes;

pub use mesh_param::is_boundary_vertex;

pub use mesh_param::loop_subdivision;

pub use mesh_param::midpoint_subdivision;

pub use mesh_param::remove_duplicate_vertices;

pub use mesh_param::texture_distortion;

pub use mesh_param::uv_overlap_check;

pub use mesh_param::uv_stretch;

pub use mesh_param::vertex_neighbors;

pub use voronoi::DelaunayTriangle;

pub use voronoi::DelaunayTriangulation;

pub use voronoi::LegacyVoronoiCell;

pub use voronoi::Point2D;

pub use voronoi::VoronoiCell;

pub use voronoi::VoronoiDiagram;

pub use voronoi::VoronoiSite;

pub use voronoi::bowyer_watson;

pub use voronoi::circumcircle;

pub use voronoi::delaunay_to_voronoi;

pub use voronoi::in_circumcircle;

pub use voronoi::is_delaunay;

pub use voronoi::lloyd_relaxation;

pub use voronoi::nearest_site;

pub use voronoi::power_diagram;

pub use voronoi::voronoi_area;

pub use voxel_grid::VoxelGrid;

pub use vhacd::VHacdConfig;

pub use vhacd::VHacdError;

pub use vhacd::VHacdVoxel;

Modules

architectural_geometry

Architectural geometry — free-form surfaces, panelization, grid shells, tensile structures, geodesic domes, structural glass, and parametric facades.

boolean_ops

Auto-generated module structure

box_shape

Axis-aligned box shape.

bspline

Auto-generated module structure

capsule

Capsule shape (sphere-swept line segment along Y axis).

cell_complex

CW complex and cell complex geometry.

compound

Auto-generated module structure

computational_geometry

Auto-generated module structure

cone

Cone shape (Y-axis aligned, apex at top).

convex_decomposition

Convex decomposition of concave meshes for collision detection.

convex_hull

Auto-generated module structure

csg

Auto-generated module structure

cylinder

Cylinder shape (Y-axis aligned).

decimation

Auto-generated module structure

discrete_geometry

Discrete differential geometry on triangle meshes.

fractal_geometry

Auto-generated module structure

geodesic

Auto-generated module structure

geodesic_geometry

Auto-generated module structure

heightfield

Auto-generated module structure

implicit

Implicit surfaces and signed distance fields (SDF).

implicit_geometry

Auto-generated module structure

implicit_surfaces

Implicit surface representations and operations.

level_set

Auto-generated module structure

medial_axis

Medial axis transform, skeleton computation, and related distance-transform utilities.

medical_geometry

Medical imaging geometry — DICOM coordinate systems, CT/MRI volume reconstruction, bone segmentation, vessel centerline extraction, organ bounding volumes, anatomical coordinate systems (RAS/LPS), surgical planning geometry, marching-cubes mesh extraction, measurement tools, and mesh smoothing for medical applications.

mesh_boolean

Mesh boolean operations on triangle meshes.

mesh_ops

Triangle mesh operations: normals, volume, surface area, point containment.

mesh_param

Triangle mesh parameterization (UV unwrapping) and mesh processing utilities.

mesh_processing

Auto-generated module structure

mesh_quality

Mesh quality metrics and repair operations.

mesh_repair

Auto-generated module structure

mesh_repair_ext

Extended mesh repair: remeshing, smoothing, simplification, quality metrics.

mesh_simplification

Auto-generated module structure

nurbs_geometry

NURBS (Non-Uniform Rational B-Splines) geometry module.

offset_geometry

Offset / buffer geometry operations.

offset_surface

Offset surface generation and signed distance field (SDF) operations.

origami

Origami and kirigami mechanics — fold pattern geometry, rigid origami kinematics, and tessellation analysis.

parametric

Auto-generated module structure

point_cloud

Auto-generated module structure

procedural_geometry

Auto-generated module structure

quickhull

3D Convex Hull via QuickHull algorithm.

remesh

Mesh remeshing algorithms.

robot_geometry

Robot geometry: DH parameters, forward/inverse kinematics, Jacobians, workspace computation, collision checking, and self-collision detection.

shape

Shape trait and raycast types.

signed_distance_field

Signed Distance Field (SDF) geometry module.

spatial_hash

Spatial hashing, loose octree, k-nearest neighbours, ray grid traversal, and spatial statistics.

sphere

Sphere shape.

sphere_packing

Auto-generated module structure

spline_geometry

Auto-generated module structure

subdivision

Mesh subdivision schemes.

swept

Auto-generated module structure

terrain_processing

Terrain processing and analysis algorithms.

topology

Auto-generated module structure

topology_geometry

Computational topology for geometry: persistent homology, Reeb graphs.

torus

Torus shape.

triangle_mesh

Triangle mesh shape with adjacency queries, vertex normals, Laplacian, geodesic distance, Loop subdivision, and watertight checks.

vhacd

V-HACD: Voxel-based Hierarchical Approximate Convex Decomposition (v0.1).

voronoi

Auto-generated module structure

voxel_grid

Axis-aligned voxel grid backed by a compact bit vector.

Structs

ConvergenceTracker

Tracks residual progress for an iterative solver and raises Error::ConvergenceFailure when the iteration limit is exceeded.

Enums

Error

Main error type for the geometry module.

Traits

WithContext

Attach a context string to a Result, wrapping the error in a new General message that includes the original error’s display text.

Functions

check_dim_match

Assert that lhs_len == rhs_len, returning Err(Error::DimensionMismatch).

check_finite

Assert that a value is finite (not NaN, not infinite).

check_finite_slice

Check all values in a slice are finite.

check_index

Assert that index < len, returning Err(Error::IndexOutOfBounds) if not.

check_len

Assert that len == expected, returning Err(Error::LengthMismatch) if not.

check_min_points

Assert that count >= required, returning Err(Error::TooFewPoints) if not.

check_non_negative

Assert that a value is non-negative, returning Err(Error::OutOfRange).

check_positive

Assert that a value is strictly positive, returning Err(Error::OutOfRange).

check_range

Assert that value lies in [min, max], returning Err(Error::OutOfRange) if it does not.

validate_heightfield

Validate a height-field descriptor.

validate_mesh

Validate that a triangle mesh has consistent vertex/index arrays.

validate_point_cloud

Validate a point cloud: non-empty, all coordinates finite.

validate_ray_dir

Validate that a ray direction is non-zero and finite.

Type Aliases

Result

Result type alias for geometry operations.