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/*! 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. There is also a short (outdated) [demonstration video](http://youtu.be/CANjXZ5rocI). An on-line version of this documentation is available [here](http://nphysics.org). 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 shows how well Rust behaves with highly generic code - it shows that there is no need to write two separate engine 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_ sexyness. ## Compilation You will need the latest release of the [Rust compiler](http://www.rust-lang.org) and the official package manager: [Cargo](https://github.com/rust-lang/cargo). If you want to use the 2D version of `nphysics`, add the crate named `nphysics2d` to your dependencies: ```ignore [dependencies] nphysics2d = "0.1.*" ``` For the 3D version, add the crate named `nphysics3d`: ```ignore [dependencies] nphysics3d = "0.1.*" ``` Use `make examples` to build the demos and execute `./your_favorite_example_here --help` to see all the cool stuffs you can do. ## Features - Static and dynamic rigid bodies. - Common convex primitives: cone, box, ball, cylinder. - Concave geometries build from convex primitives (aka. compound geometries). - Stable stacking. - Island based sleeping (objects deactivation). - Ray casting. - Swept sphere based continuous collision detection. - Ball-in-socket joint. - Fixed joint. - Sensors. ## 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: - kinematic bodies - efficient signaling system - more joints, joint limits, joint motors and breakable joints. - soft-bodies (see https://github.com/natal/roft for a draft) - parallel pipeline - GPU-based pipeline ## Dependencies All dependencies are automatically cloned with a recursive clone. 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: */ #![deny(non_camel_case_types)] #![deny(unused_parens)] #![deny(non_upper_case_globals)] #![deny(unused_qualifications)] #![deny(missing_docs)] #![deny(unused_results)] #![warn(non_camel_case_types)] #![allow(missing_copy_implementations)] #![doc(html_root_url = "http://nphysics-dev.org/doc")] extern crate num; extern crate rustc_serialize; extern crate nalgebra as na; extern crate ncollide; //#[cfg(test)] //extern crate test; pub mod aliases; pub mod integration; pub mod detection; pub mod resolution; pub mod world; pub mod object; pub mod utils; pub mod volumetric; mod tests; /// Compilation flags dependent aliases for mathematical types. #[cfg(feature = "dim3")] pub mod math { use na::{Point3, Vector3, Matrix3, Rotation3, Isometry3}; /// The point type. pub type Point<N> = Point3<N>; /// The vector type. pub type Vector<N> = Vector3<N>; /// The orientation type. pub type Orientation<N> = Vector3<N>; /// The transformation matrix type. pub type Matrix<N> = Isometry3<N>; /// The rotation matrix type. pub type RotationMatrix<N> = Rotation3<N>; /// The inertia tensor type. pub type AngularInertia<N> = Matrix3<N>; } /// Compilation flags dependent aliases for mathematical types. #[cfg(feature = "dim2")] pub mod math { use na::{Point2, Vector1, Vector2, Matrix1, Rotation2, Isometry2}; /// The point type. pub type Point<N> = Point2<N>; /// The vector type. pub type Vector<N> = Vector2<N>; /// The orientation type. pub type Orientation<N> = Vector1<N>; /// The transformation matrix type. pub type Matrix<N> = Isometry2<N>; /// The rotation matrix type. pub type RotationMatrix<N> = Rotation2<N>; /// The inertia tensor type. pub type AngularInertia<N> = Matrix1<N>; }