Expand description
phyz — Multi-physics differentiable simulation engine.
This is the umbrella crate that provides the Simulator and re-exports
core types from sub-crates.
Re-exports§
pub use phyz_collision;pub use phyz_contact;pub use phyz_diff;pub use phyz_math;pub use phyz_mjcf;pub use phyz_model;pub use phyz_particle;pub use phyz_prob;pub use phyz_rigid;pub use phyz_world;pub use phyz_compile;pub use phyz_coupling;pub use phyz_em;pub use phyz_format;pub use phyz_gpu;pub use phyz_gravity;pub use phyz_guardian;pub use phyz_lbm;pub use phyz_md;pub use phyz_qft;pub use phyz_real2sim;
Modules§
- aba
- Articulated Body Algorithm (ABA) — O(n) forward dynamics.
- crba
- Composite Rigid Body Algorithm (CRBA) — mass matrix computation.
- material
- Material constitutive models for MPM.
- rnea
- Recursive Newton-Euler Algorithm (RNEA) — inverse dynamics.
Structs§
- Actuator
- A motor actuator attached to a joint.
- Contact
Material - Material properties for contact interactions.
- Model
- Static model describing the topology and parameters of a physical system.
- Model
Builder - Builder for constructing models.
- MpmSolver
- MPM solver using APIC (Affine Particle-In-Cell) transfer.
- Particle
- A material point particle.
- Rk4Solver
- 4th-order Runge-Kutta integrator.
- Semi
Implicit Euler Solver - Semi-implicit Euler integrator using Featherstone ABA.
- Sensor
Output - Output from a sensor reading.
- Simulator
- Main simulation driver.
- State
- Mutable simulation state.
- Step
Jacobians - Jacobians of a single simulation step.
- Tendon
- A tendon is a spring-damper system that follows a path through multiple bodies.
- Trajectory
Recorder - Records trajectories of (q, v, ctrl, time) for ML training.
- World
- A complete simulation world with sensors and actuators.
- World
Generator - Procedural world generator with seeded randomness.
Enums§
- Geometry
- Collision geometry types (re-exported from phyz-collision for convenience).
- Material
- Material constitutive model.
- Sensor
- Sensor types for extracting observations from simulation.
Traits§
- Solver
- Pluggable solver trait.
Functions§
- aba
- Run the Articulated Body Algorithm.
- aba_
with_ external_ forces - Run ABA with optional external spatial forces applied to each body.
- crba
- Compute the joint-space mass matrix M(q) using CRBA.
- forward_
kinematics - Compute forward kinematics: body transforms and spatial velocities.
- rnea
- Run RNEA: compute inverse dynamics torques.
Type Aliases§
- Vec3
- 3D vector alias.