Crate sharira 

Sharira

Sharira (शरीर — Sanskrit for “body, physical form”) — physiology engine for the AGNOS ecosystem.

Provides skeletal structures, joint articulation, musculature, locomotion gaits, biomechanics, and anatomy presets. The physical body that jantu (instinct) drives and soorat (renderer) displays.

Stack Position

soorat  → renders the body (mesh + skinned skeleton)
sharira → defines the body (bones, joints, muscles, gaits)
jantu   → decides what the body does (instinct, survival)
bhava   → shapes how it moves (personality, emotion)
impetus → physics (forces, collision, gravity)
raasta  → navigation (where to go)

Re-exports

pub use allometry::AllometricParams;

pub use allometry::allometric_skeleton;

pub use allometry::scale_skeleton;

pub use body::Body;

pub use error::Result;

pub use error::ShariraError;

pub use fatigue::FatigueState;

pub use gait::FootPlacement;

pub use gait::Gait;

pub use gait::GaitController;

pub use gait::GaitCycle;

pub use gait::GaitPhase;

pub use gait::GaitType;

pub use ik::IKChain;

pub use ik::IKTarget;

pub use ik::solve_fabrik;

pub use ik::solve_two_bone;

pub use joint::Joint;

pub use joint::JointLimits;

pub use joint::JointType;

pub use kinematics::WorldTransforms;

pub use kinematics::forward_kinematics;

pub use morphology::Morphology;

pub use morphology::apply_morphology;

pub use muscle::Muscle;

pub use muscle::MuscleGroup;

pub use pose::Pose;

pub use preset::BodyPlan;

pub use skeleton::Bone;

pub use skeleton::BoneId;

pub use skeleton::Skeleton;

Modules

allometry

Allometric scaling — generate body proportions from mass using power laws.

biomechanics

body

Body state — aggregation of skeleton, pose, joints, muscles, and computed transforms.

bridge

Cross-crate bridges — convert sharira physiology values to/from other AGNOS science crate parameters.

error

fatigue

gait

ik

Inverse kinematics — compute joint rotations to reach a target position.

integration

Integration APIs for downstream consumers (soorat rendering). Integration APIs for downstream consumers.

joint

kinematics

Forward kinematics — compute world-space bone transforms from skeleton + pose.

morphology

Morphology variation — parametric anatomy for within-species diversity.

muscle

pose

Pose representation — joint angles separate from skeleton structure.

preset

skeleton