Crate symtropy_physics 

N-dimensional rigid body physics engine.

Provides dimension-agnostic rigid body dynamics, GJK collision detection, and constraint solving. All types are const D: usize parameterized for stack-allocated, SIMD-friendly physics at 2D/3D/4D.

Architecture

• RigidBody<D> — position, velocity, angular velocity (bivector), mass, collider
• PhysicsWorld<D> — owns bodies, steps simulation, resolves collisions
• gjk::intersects() — GJK intersection test for any Shape<D>
• contact::ContactManifold<D> — collision contact data
• integrator — semi-implicit Euler with bivector angular dynamics

Re-exports

pub use articulation::ArticulatedChain;

pub use articulation::ChainBuilder;

pub use articulation::LinkSpec;

pub use body::BodyHandle;

pub use body::BodyType;

pub use body::NetId;

pub use body::RigidBody;

pub use broadphase::morton_encode;

pub use broadphase::morton_prefix;

pub use broadphase::Aabb;

pub use broadphase::Lbvh;

pub use constraint::Constraint;

pub use contact::CollisionEvent;

pub use contact::ContactCache;

pub use contact::ContactManifold;

pub use contact::SensorEvent;

pub use epa::EpaResult;

pub use joints::BallJoint;

pub use joints::FixedJoint;

pub use joints::HingeJoint;

pub use joints::MotorDrive;

pub use joints::PrismaticJoint;

pub use replay::apply_commands;

pub use replay::ReplayTape;

pub use replay::WorldCommand;

pub use replay::WorldSnapshot;

pub use world::NoOpCallback;

pub use world::PhysicsCallback;

pub use world::PhysicsWorld;

Modules

articulation

Articulated chain builder for serial kinematic chains.

body

broadphase

Broadphase collision detection via LBVH (Linear Bounding Volume Hierarchy).

ccd

Continuous Collision Detection (CCD): prevents fast-moving bodies from tunneling through surfaces between frames.

constraint

Constraint trait for ND joints and connections.

contact

epa

EPA (Expanding Polytope Algorithm) for penetration depth and contact normal.

gjk

GJK (Gilbert–Johnson–Keerthi) intersection test generalized to N dimensions.

integrator

Semi-implicit Euler integrator for ND rigid body dynamics.

island

Island detection: groups connected bodies into independent clusters.

joints

Joint types for articulated bodies.

manifold_gen

Multi-point contact manifold generation via contact clustering.

raycast

Ray casting: find the first intersection of a ray with physics bodies.

replay

Determinism helpers: record/replay command streams and bitwise snapshots.

world

Physics world: owns bodies, steps simulation, resolves collisions.