Module world_api 

High-level physics world API designed for Python consumers.

PyPhysicsWorld provides the primary interface: add/remove bodies, apply forces and impulses, step the simulation, and query state. Handles are u32 integers for easy FFI transmission. All state uses plain arrays and primitive types; no nalgebra types are exposed through the public API.

Structs

ContactPair

Contact pair returned by get_contact_list.

FemBarElement

A single 2-node bar (truss) element for FEM assembly.

InertiaTensor

Inertia tensor (3×3 matrix stored as 9 elements, row-major).

MaterialProperties

Material property record returned by query functions.

PyAabb

Axis-aligned bounding box (AABB) in 3-D.

PyConstraint

A constraint between two rigid bodies.

PyConvexHull

A convex hull stored as a list of vertices.

PyFemAssembly

FEM assembly for a truss structure.

PyFemBinding

PyO3-style binding handle for a 2-D FEM solver.

PyLbmBinding

PyO3-style binding handle for a 2-D LBM simulation.

PyLbmConfig

Configuration for a 2-D D2Q9 Lattice-Boltzmann simulation.

PyLbmGrid

D2Q9 Lattice-Boltzmann grid simulation.

PyMaterial

A material definition holding both elastic and optional plastic properties.

PyMdBinding

PyO3-style binding handle for an MD simulation.

PyPhysicsWorld

A self-contained physics simulation world.

PyRigidBody

PyRigidBody is a lightweight handle-based wrapper that exposes body-level computations (moment of inertia, etc.) without owning state.

PySphBinding

PyO3-style binding handle for a 3-D SPH simulation.

PySphConfig

Configuration for an SPH particle simulation.

PySphSim

SPH particle simulation (simplified 3-D, poly6/spiky kernels).

PySphere

Sphere geometry query helper.

SimStats

Per-step simulation performance and state statistics.

Enums

ConstraintType

Type of constraint between two bodies.

MaterialClass

Classification of material behaviour.

Functions

array_to_vec3

Convert a [f64; 3] array to PyVec3.

py_p_wave_speed

PyO3-callable: return P-wave speed for a named material, or 0.0.

py_query_material

PyO3-callable: look up a material and return [density, E, nu, UTS, visc, yield] or an empty vec if the name is unknown.

py_s_wave_speed

PyO3-callable: return S-wave speed for a named material, or 0.0.

quat_conjugate

Conjugate (inverse for unit quaternion) of [x, y, z, w].

quat_from_axis_angle

Create a quaternion from an axis-angle representation.

quat_mul

Multiply two quaternions q1 * q2 (Hamilton product).

quat_normalize

Normalize a quaternion [x, y, z, w] and return it.

quat_rotate_vec

Rotate a vector v by unit quaternion q.

vec3_to_array

Convert PyVec3 to a [f64; 3] array.