dimforge/rapier
Rapier
Rapier es un motor de física multiplataforma y solver de dinámica de cuerpos rígidos diseñado para simulaciones 2D y 3D. Funciona como un sistema de detección de colisiones y un framework de simulación robótica, proporcionando una API consistente para calcular interacciones físicas en diferentes entornos.
El motor destaca por sus capacidades robóticas especializadas, incluyendo un kit de herramientas para importar modelos URDF y STL para controlar cadenas multicuerpo. Admite un movimiento mecánico preciso mediante cálculos de cinemática inversa y la aplicación de controladores PID para el control dinámico de cuerpos.
La superficie de simulación cubre una amplia gama de capacidades físicas, incluyendo controladores cinemáticos de personajes para el desplazamiento por terreno y modelos de ray-cast para la dinámica de vehículos. Cuenta con un pipeline de colisión multifase con detección de colisiones continua para evitar el túnel de objetos, así como un sistema para restricciones de movimiento articulado utilizando juntas de revolución, prismáticas y esféricas.
El framework incluye utilidades para importar definiciones geométricas externas mediante formatos STL, URDF y XML, y proporciona una interfaz de depuración agnóstica al backend para visualizar estados físicos internos y escenas 3D.
Features
- Rigid Body Physics Engines - Calculates real-time collisions and physical forces for rigid bodies in 2D and 3D space.
- Physics and Simulation - Offers a cross-platform library for simulating rigid body dynamics and physical interactions.
- Robotic Physics and Sensor Simulators - Simulates articulated robotic systems and multibody chains with physics-based interaction.
- Robotics Frameworks - Provides a comprehensive framework for importing, controlling, and simulating robotic multibody systems.
- 3D Physics Engines - A simulation environment for calculating real-time rigid body physics and collisions in 3D space.
- Multi-Phase Collision Detection - Utilizes a multi-phase pipeline with broad-phase pruning and narrow-phase tests for efficient collision detection.
- Collision Detection - Provides a system for defining and calculating intersections between physical shapes to prevent tunneling.
- 3D Collision Detection Frameworks - Provides a framework for calculating 3D geometric intersections and performing spatial ray-casting.
- Fixture Shape Definitions - Provides a comprehensive system for defining collision geometries using primitives, convex hulls, and voxelized shapes.
- Mechanical Joint Constraints - Connects rigid bodies using revolute, prismatic, and spherical joints with integrated limits and motors.
- Rigid Body Solvers - Implements a solver that manages mass, gravity, and damping to resolve rigid body constraints.
- Velocity-Level Controllers - Applies velocity-level control to rigid bodies using PD and PID controllers for precise robotic movement.
- URDF Model Parsers - Parses URDF files to automatically construct rigid bodies and joint hierarchies for robotic simulation.
- Inverse Kinematics - Calculates joint configurations for multibody chains to reach specific target spatial poses.
- Sequential Impulse Solvers - Implements an iterative sequential impulse solver to resolve rigid body interactions and joint constraints.
- Character Controllers - Provides a kinematic character controller for managing movement, sliding, and stair climbing in 3D environments.
- Collision Filtering - Implements collision filtering using bit masks and custom logic to optimize physics interaction performance.
- Continuous Collision Detection - Implements continuous collision detection to prevent fast-moving objects from tunneling through geometry.
- Kinematic Character Controllers - Implements kinematic character controllers for terrain traversal, stair climbing, and wall penetration prevention.
- Ray and Shape Casting - Supports spatial queries through ray-casting and shape-casting to locate colliders within the scene.
- Wheeled Vehicle Simulations - Simulates vehicle movement and wheel physics using a ray-cast system for suspension and friction.
- Ray-Cast Vehicle Models - Simulates vehicle wheel physics and ground interaction using a ray-cast model for suspension and friction.
- XML Model Importers - Parses XML files to instantiate rigid bodies and joints using inheritance and rotation specifications.
- STL File Decoders - Imports STL binary files to define precise geometric boundaries for physics collider shapes.
- Physics Engines - 2D/3D physics engines focused on performance.
