Expand description
Collision detection for phyz physics engine.
Implements GJK (Gilbert-Johnson-Keerthi) for distance queries, EPA (Expanding Polytope Algorithm) for penetration depth, analytic ray casting, and broad-phase spatial hashing.
Re-exports§
pub use broad_phase::sweep_and_prune;pub use epa::epa_from_simplex;pub use epa::epa_penetration;pub use epa::epa_penetration_rot;pub use geometry::AABB;pub use geometry::Geometry;pub use gjk::GjkOutcome;pub use gjk::gjk_distance;pub use gjk::gjk_distance_rot;pub use gjk::gjk_rot;pub use manifold::MAX_MANIFOLD_POINTS;pub use manifold::Manifold;pub use manifold::ManifoldPoint;pub use manifold::contact_manifold;pub use manifold::contact_manifold_within;pub use raycast::Ray;pub use raycast::RayHit;pub use raycast::ray_cast;pub use raycast::ray_intersect;
Modules§
- broad_
phase - Broad-phase collision detection using sweep-and-prune.
- epa
- EPA (Expanding Polytope Algorithm) for penetration depth calculation.
- geometry
- Geometry primitives for collision detection.
- gjk
- GJK (Gilbert-Johnson-Keerthi) algorithm for distance queries.
- manifold
- Contact manifold generation.
- raycast
- Analytic ray/shape intersection.
Structs§
- Collision
- Result of a collision query between two geometries.