Crate phyz_math 

Spatial algebra and math primitives for phyz physics engine.

Implements 6D spatial vectors, Plucker transforms, and spatial inertia following Featherstone’s conventions.

Re-exports

pub use spatial::SpatialInertia;

pub use spatial::SpatialMat;

pub use spatial::SpatialTransform;

pub use spatial::SpatialTransformExt;

pub use spatial::SpatialVec;

Modules

fp

Reproducible floating-point primitives.

spatial

6D spatial algebra following Featherstone’s “Rigid Body Dynamics Algorithms”.

Constants

GRAVITY

Functions

quat_exp

Exponential map so(3) → SO(3), computed through fp.

quat_log

Logarithmic map SO(3) → so(3), computed through fp.

skew

Cross-product matrix [v]× such that [v]× w = v × w

Type Aliases

DMat

Dynamic matrix.

DVec

Dynamic vector.

Mat3

3x3 matrix alias.

Mat4

4x4 matrix alias.

Quat

Unit quaternion for 3D rotations (scalar w, vector v).

Vec3

3D vector alias.