Expand description
Spatial algebra and math primitives for phyz physics engine.
Implements 6D spatial vectors, Plücker transforms, and spatial inertia following Featherstone’s conventions.
Re-exports§
pub use quaternion::Quat;pub use spatial::SpatialInertia;pub use spatial::SpatialMat;pub use spatial::SpatialTransform;pub use spatial::SpatialVec;
Modules§
- quaternion
- Quaternion utilities for 3D rotations.
- spatial
- 6D spatial algebra following Featherstone’s “Rigid Body Dynamics Algorithms”.
Constants§
- GRAVITY
- Standard gravity (m/s²).
Functions§
- skew
- Cross-product matrix: [v]× such that [v]× w = v × w.