Module functions 

Auto-generated module

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Functions

apply_impulses

Batch impulse application: apply accumulated impulses to all bodies.

batch_integrate_semi_implicit

GPU-batch semi-implicit Euler: integrate all bodies in a slice.

batch_update_world_aabbs

Batch AABB update kernel.

compute_world_aabb

Compute the world-space AABB of a rigid body given its OBB half-extents.

integrate_angular_velocity_only

Integrate only the angular velocity of each body (no linear dynamics).

integrate_euler

Euler-step all rigid bodies by dt given external forces and torques.

integrate_rk4

RK4 integration of a single rigid body for one time step.

integrate_semi_implicit

Integrate a single RigidBodyState using the semi-implicit Euler method.