Crate rhusics_ecs

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 physics ECS

physics3d

3D physics ECS

Structs

BasicCollisionSystem

Collision detection system for use with specs.

ContactResolutionSystem

Do single contact, forward resolution.

CurrentFrameUpdateSystem

Current frame update system.

DeltaTime

Time step resource

NextFrameSetupSystem

Setup the next frames positions and velocities.

PhysicalEntityParts

SystemData for easier creation of physical entities.

SpatialCollisionSystem

Collision detection system for use with specs.

SpatialSortingSystem

Spatial sorting system for use with specs.

Enums

PhysicalEntityCreationError

Error returned when physical entity setup fails

Traits

WithPhysics

Adds physical entity builder functions to EntityBuilder

Functions

setup_dispatch

Create systems and add to a Dispatcher graph.