Module joints 

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

Components

• RigidBody — full 3D rigid body with Quat orientation, Mat3 inertia tensor
• RigidBodyHandle — newtype u32 handle
• PhysicsWorld3D — arena of RigidBody, gravity, timestep, broadphase, step()
• CollisionShape — Sphere, Box, Capsule, ConvexHull
• CollisionDetector — sphere-sphere, sphere-box, box-box (SAT), capsule-capsule
• Broadphase — sweep-and-prune on X-axis
• RayCast — ray vs shape intersection
• ImpulseResolver — sequential impulse with friction cone, restitution, warm-start
• SleepSystem — kinetic energy threshold, sleep counter, island wake propagation

Structs

Broadphase

Sweep-and-prune broadphase on the X axis with insertion sort.

BroadphaseEntry

AABB entry for broadphase sweep-and-prune.

CharacterController

CollisionDetector

Narrow-phase collision detection.

ContactManifold3D

Result of collision detection between two bodies.

ContactPoint

A single contact point in a collision manifold.

ImpulseResolver

Sequential impulse resolver with friction cone projection, restitution, and warm-starting.

Joint

JointAnchor

JointImpulse

JointLimits

JointSolver

Positional constraint solver using Sequential Impulses.

PhysicsWorld3D

The 3D physics simulation world.

Ragdoll

RagdollBone

Ray

Ray for intersection tests.

RayCast

Ray intersection routines.

RayHit

Result of a ray-cast hit.

RigidBody

Full 3D rigid body.

RigidBodyHandle

Opaque handle into a PhysicsWorld3D body arena.

SleepSystem

Manages sleeping bodies to skip expensive simulation when at rest.

Enums

CollisionShape

Collision shapes supported by the physics engine.

JointType

SleepState