Crate phyz_model 

Model and state types for phyz physics engine.

Model is the static description of a physical system (topology, masses, joint types). State is the mutable simulation state (positions, velocities, forces).

Re-exports

pub use body::Attachment;

pub use body::Body;

pub use body::GeomInstance;

pub use body::Geometry;

pub use heightfield::Heightfield;

pub use joint::Joint;

pub use joint::JointType;

pub use material::ContactMaterial;

pub use material::SolImp;

pub use material::SolRef;

pub use model::Actuator;

pub use model::Model;

pub use model::ModelBuilder;

pub use state::State;

pub use validate::Issue;

Modules

body

Rigid body definition.

heightfield

Terrain as a regular grid of heights.

joint

Joint types and definitions.

material

Contact material properties.

model

Model definition — static description of a physical system.

state

Simulation state — mutable per-timestep data.

validate

Model sanity checks.