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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. 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.