Module physics 

Physics simulation — rigid bodies, constraints, collision, fluid dynamics.

This module provides a simplified 2D/3D physics simulation layer for Proof Engine. All physical objects are mathematical entities — their motion is derived from differential equations integrated via RK4.

Subsystems

• RigidBody — point masses with velocity, acceleration, forces
• Constraint — distance, angle, hinge, weld constraints
• Collider — circle/box/capsule shapes for broad/narrow phase
• PhysicsWorld— simulation driver, constraint solver, broadphase
• FluidSolver — grid-based Eulerian fluid (velocity + pressure)
• SoftBody — mass-spring soft body meshes

All positions are in world-space float coordinates.

Re-exports

pub use joints::Joint;

pub use joints::JointType;

pub use joints::Ragdoll;

pub use joints::RagdollBone;

pub use joints::CharacterController;

pub use joints::JointSolver;

pub use fluid::FluidGrid;

pub use soft_body::SoftBody;

Modules

constraints

XPBD + Sequential-Impulse constraint solver for 2D/3D rigid bodies.

fluid

Eulerian grid-based fluid simulation (velocity + pressure + density).

fluids

SPH fluid simulation, height-field water, buoyancy, and fluid rendering integration.

joints

3D Physics joints, rigid bodies, collision detection, broadphase, ray casting, impulse resolution, and sleep system.

rigid_body

2D Rigid Body Physics for Proof Engine.

soft_body

Mass-spring soft body simulation.

Structs

BodyId

Unique body identifier.

ContactManifold

Result of a collision test between two bodies.

PhysicsWorld

The physics simulation world.

RigidBody

A simulated rigid body (treated as a point mass for simplicity).

Enums

Collider

Collision shape for a body.

Constraint

A physical constraint between two bodies.

Functions

aabb_aabb

Test AABB vs AABB (using bounding boxes).

circle_circle

Test circle vs circle.

resolve_contact

Resolve a contact manifold by applying impulses to both bodies.

rk4_2d

Runge-Kutta 4 for a 2D position given a force function.

verlet_step

Verlet integration step (position + velocity-Verlet). More accurate than Euler for conservative forces.