phyz_format/lib.rs
1//! Universal multi-domain physics format for tau.
2//!
3//! The .phyz JSON format is a unified specification for multi-domain physics simulations.
4//! It supports:
5//! - Multiple physics domains (rigid body, particles, EM, quantum, etc.)
6//! - Cross-domain coupling definitions
7//! - Parameter specifications with uncertainty
8//! - Import/export from common formats (MJCF, URDF, USD, SDF)
9
10pub mod coupling;
11pub mod domain;
12pub mod error;
13pub mod importers;
14pub mod schema;
15
16pub use coupling::{Coupling, CouplingType, ForceTransfer};
17pub use domain::{Domain, DomainType, RigidBodyDomain};
18pub use error::{Result, TauFormatError};
19pub use importers::{from_mjcf, from_urdf};
20pub use schema::{PhyzSpec, WorldConfig, export_phyz, load_phyz_model};