dimforge/rapier
Rapier
Rapier is a cross-platform physics engine and rigid body dynamics solver designed for 2D and 3D simulations. It functions as a collision detection system and a robotics simulation framework, providing a consistent API for calculating physical interactions across different environments.
The engine distinguishes itself with specialized robotics capabilities, including a toolkit for importing URDF and STL models to control multibody chains. It supports precise mechanical movement through inverse kinematics calculations and the application of PID controllers for dynamic body control.
The simulation surface covers a broad range of physics capabilities, including kinematic character controllers for terrain traversal and ray-cast models for vehicle dynamics. It features a multi-phase collision pipeline with continuous collision detection to prevent object tunneling, as well as a system for jointed motion constraints using revolute, prismatic, and spherical joints.
The framework includes utilities for importing external geometric definitions via STL, URDF, and XML formats, and provides a backend-agnostic debug interface for visualizing internal physics states and 3D scenes.
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.
Star history
How this analysis was created: This summary and feature list are AI-generated from collected project material and can contain mistakes. Stars, license and language are imported from GitHub. Inclusion does not mean that we have tested or audited this project. Check the source documentation for any feature you depend on. Learn more on our About page.
