2 and 3-dimensional rigid body physics engine for Rust.
2 and 3-dimensional rigid body physics engine for Rust.
⚠️**This crate is now passively-maintained. It is being superseded by the [Rapier](https://rapier.rs) project.**⚠️ ----- nphysics ======== **nphysics** is a 2 and 3-dimensional physics engine for games and animations. It uses [ncollide](http://ncollide.org) for collision detection, and [nalgebra](http://nalgebra.org) for vector/matrix math. 2D and 3D implementations both share the same code! Examples are available in the `examples2d` and `examples3d` directories. Interactive 3D are available [there](http://demo.nphysics.org/). Because those demos are based on WASM and WebGl 1.0 they should work on most modern browsers. Feel free to ask for help and discuss features on the official [user forum](http://users.nphysics.org). ## Why another physics engine? There are a lot of physics engine out there. However having a physics engine written in Rust is much more fun than writing bindings and has several advantages: - It shows that Rust is suitable for soft real-time applications. − It features an efficient implementation of multibodies using the reduced-coordinates approach. Constraint-based joints are also supported. - It shows that there is no need to write two separate engines for 2D and 3D: genericity wrt the dimension is possible (modulo low level arithmetic specializations for each dimension). - In a not-that-near future, C++ will die of ugliness. Then, people will search for a physics engine and **nphysics** will be there, proudly exhibiting its _Rusty_ sexiness. ## Features - Static, dynamic, and kinematic rigid bodies. - Common convex primitives: box, ball, convex polyhedron. - Concave geometries built from convex primitives: compound geometries, triangle mesh, polylines. - Multibodies using reduced-coordinates approaches or constraints-based joints. - Multibody joint limits and motors. - Stable stacking due to non-linear a position-based penetration correction and one-shot contact manifold generation. - Island based sleeping (objects deactivation when they are at rest). - Ray casting. - Swept sphere based continuous collision detection. - Ball-in-socket joint. - FixedJoint joint. - Sensors. - Deformable bodies (aka. soft-bodies) - Kinematic bodies - WASM support ## What is missing? **nphysics** is a very young library and needs to learn a lot of things to become a grown up. Many missing features are because of missing features on **ncollide**. Features missing from **nphysics** itself include: - more joints, joint limits, joint motors and breakable joints. - parallel pipeline - GPU-based pipeline ## Dependencies The libraries needed to compile the physics engine are: * [ncollide](http://ncollide.org): the collision detection library. * [nalgebra](http://nalgebra.org): the linear algebra library. The libraries needed to compile the examples are: * [kiss3d](http://kiss3d.org): the 3d graphics engine.
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