[][src]Crate rhusics_core

Rhusics physics library

A physics library. Uses cgmath for all computation.

Features:

  • Two different broad phase collision detection implementations:
    • Brute force
    • Sweep and Prune
  • Narrow phase collision detection using GJK, and optionally EPA for full contact information
  • Functions for collision detection working on user supplied transform, and CollisionShape components. Can optionally use broad and/or narrow phase detection. Library supplies a transform implementation BodyPose for convenience.
  • Uses single precision as default, can be changed to double precision with the double feature.
  • Has support for doing spatial sort/collision detection using the collision-rs DBVT.
  • Support for doing broad phase using the collision-rs DBVT.
  • Has support for all primitives in collision-rs

Modules

collide2d

Type wrappers and convenience functions for 2D collision detection

collide3d

Type wrappers and convenience functions for 3D collision detection

physics2d

2D structures for physics

physics3d

3D structures for physics

Structs

BodyPose

Transform component used throughout the library

BruteForce

Broad phase collision detection brute force implementation.

CollisionShape

Collision shape describing a complete collision object in the collision world.

Contact

Contact manifold for a single collision contact point.

ContactEvent

Contains all contact information for a single contact, together with IDs of the colliding bodies

ForceAccumulator

Force accumulator for a physical entity.

Mass

Mass

Material

Physics material

NextFrame

Wrapper for data computed for the next frame

PhysicalEntity

Physical entity

ResolveData

Data used for contact resolution

SingleChangeSet

Changes computed from contact resolution.

Velocity

Velocity

WorldParameters

Global parameters for the physics world

Enums

CollisionMode

Control continuous mode for shapes

CollisionStrategy

Collision strategy to use for collisions.

Traits

ApplyAngular

Apply an angular velocity to a rotational quantity

BroadPhase

Broad phase

Collider

Used to check if two shapes should be checked for collisions

CollisionData

Collision data used for performing a full broad + narrow phase

GetId

Trait used to extract the lookup id used by CollisionData, given the output from a broad phase

Inertia

Moment of inertia, used for abstracting over 2D/3D inertia tensors

NarrowPhase

Base trait implemented by all narrow phase algorithms.

PartialCrossProduct

Cross product abstraction

PhysicsTime
Pose

Pose abstraction

Primitive

Minkowski support function for primitive

Volume

Describe a shape with volume

Functions

basic_collide

Do basic collision detection (not using a DBVT)

next_frame_integration

Do force integration for next frame.

next_frame_pose

Compute next frame pose

resolve_contact

Perform contact resolution.

tree_collide

Do collision detection using a DBVT

Type Definitions

SweepAndPrune2

Broad phase sweep and prune algorithm for 2D, see SweepAndPrune for more information.

SweepAndPrune3

Broad phase sweep and prune algorithm for 3D, see SweepAndPrune for more information.