Crate rhusics_core

Expand description

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

Type wrappers and convenience functions for 2D collision detection

Type wrappers and convenience functions for 3D collision detection

2D structures for physics

3D structures for physics

Structs

Transform component used throughout the library

Broad phase collision detection brute force implementation.

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

Contact manifold for a single collision contact point.

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

ForceAccumulator

Force accumulator for a physical entity.

Mass

Physics material

Wrapper for data computed for the next frame

Physical entity

Data used for contact resolution

SingleChangeSet

Changes computed from contact resolution.

Velocity

WorldParameters

Global parameters for the physics world

Enums

Control continuous mode for shapes

CollisionStrategy

Collision strategy to use for collisions.

Traits

Apply an angular velocity to a rotational quantity

Broad phase

Used to check if two shapes should be checked for collisions

Collision data used for performing a full broad + narrow phase

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

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

Base trait implemented by all narrow phase algorithms.

PartialCrossProduct

Cross product abstraction

Pose abstraction

Minkowski support function for primitive

Describe a shape with volume

Functions

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.

Do collision detection using a DBVT

Type Definitions

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

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