├── .github ├── FUNDING.yml └── workflows │ ├── rapier-ci-bench.yml │ └── rapier-ci-build.yml ├── .gitignore ├── .typos.toml ├── ARCHITECTURE.md ├── CHANGELOG.md ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── Cargo.toml ├── Claude.md ├── LICENSE ├── README.md ├── assets ├── 3d │ ├── T12 │ │ ├── README.md │ │ ├── meshes │ │ │ ├── Ankle1.STL │ │ │ ├── Ankle2.STL │ │ │ ├── Ankle3.STL │ │ │ ├── Ankle4.STL │ │ │ ├── Ankle5.STL │ │ │ ├── Ankle6.STL │ │ │ ├── Body.STL │ │ │ ├── Foot1.STL │ │ │ ├── Foot2.STL │ │ │ ├── Foot3.STL │ │ │ ├── Foot4.STL │ │ │ ├── Foot5.STL │ │ │ ├── Foot6.STL │ │ │ ├── Hip1.STL │ │ │ ├── Hip2.STL │ │ │ ├── Hip3.STL │ │ │ ├── Hip4.STL │ │ │ ├── Hip5.STL │ │ │ ├── Hip6.STL │ │ │ ├── Knee1.STL │ │ │ ├── Knee2.STL │ │ │ ├── Knee3.STL │ │ │ ├── Knee4.STL │ │ │ ├── Knee5.STL │ │ │ ├── Knee6.STL │ │ │ ├── Shin1.STL │ │ │ ├── Shin2.STL │ │ │ ├── Shin3.STL │ │ │ ├── Shin4.STL │ │ │ ├── Shin5.STL │ │ │ ├── Shin6.STL │ │ │ ├── Thigh1.STL │ │ │ ├── Thigh2.STL │ │ │ ├── Thigh3.STL │ │ │ ├── Thigh4.STL │ │ │ ├── Thigh5.STL │ │ │ └── Thigh6.STL │ │ └── urdf │ │ │ ├── T12.URDF │ │ │ ├── T12_flipped.URDF │ │ │ └── T12_wrong_axes.orig.URDF │ ├── camel_decimated.obj │ ├── chair.obj │ ├── cup_decimated.obj │ ├── dilo_decimated.obj │ ├── feline_decimated.obj │ ├── genus3_decimated.obj │ ├── hand2_decimated.obj │ ├── hand_decimated.obj │ ├── hornbug.obj │ ├── octopus_decimated.obj │ ├── rabbit_decimated.obj │ ├── rust_logo_simplified.obj │ ├── screwdriver_decimated.obj │ ├── table.obj │ ├── tstTorusModel.obj │ ├── tstTorusModel2.obj │ └── tstTorusModel3.obj └── FiraSans-Bold.ttf ├── benchmarks2d ├── Cargo.toml ├── all_benchmarks2.rs ├── balls2.rs ├── boxes2.rs ├── capsules2.rs ├── convex_polygons2.rs ├── heightfield2.rs ├── joint_ball2.rs ├── joint_fixed2.rs ├── joint_prismatic2.rs ├── pyramid2.rs └── vertical_stacks2.rs ├── benchmarks3d ├── Cargo.toml ├── all_benchmarks3.rs ├── balls3.rs ├── boxes3.rs ├── capsules3.rs ├── ccd3.rs ├── compound3.rs ├── convex_polyhedron3.rs ├── heightfield3.rs ├── joint_ball3.rs ├── joint_fixed3.rs ├── joint_prismatic3.rs ├── joint_revolute3.rs ├── keva3.rs ├── many_kinematics3.rs ├── many_pyramids3.rs ├── many_sleep3.rs ├── many_static3.rs ├── pyramid3.rs ├── ray_cast3.rs ├── stacks3.rs └── trimesh3.rs ├── crates ├── rapier2d-f64 │ └── Cargo.toml ├── rapier2d │ └── Cargo.toml ├── rapier3d-f64 │ └── Cargo.toml ├── rapier3d-meshloader │ ├── CHANGELOG.md │ ├── Cargo.toml │ ├── LICENSE │ ├── README.md │ └── src │ │ └── lib.rs ├── rapier3d-urdf │ ├── CHANGELOG.md │ ├── Cargo.toml │ ├── LICENSE │ ├── README.md │ └── src │ │ └── lib.rs ├── rapier3d │ └── Cargo.toml ├── rapier_testbed2d-f64 │ └── Cargo.toml ├── rapier_testbed2d │ └── Cargo.toml ├── rapier_testbed3d-f64 │ └── Cargo.toml └── rapier_testbed3d │ └── Cargo.toml ├── examples2d ├── Cargo.toml ├── add_remove2.rs ├── all_examples2.rs ├── ccd2.rs ├── character_controller2.rs ├── collision_groups2.rs ├── convex_polygons2.rs ├── damping2.rs ├── debug_box_ball2.rs ├── debug_compression2.rs ├── debug_intersection2.rs ├── debug_total_overlap2.rs ├── debug_vertical_column2.rs ├── drum2.rs ├── heightfield2.rs ├── inv_pyramid2.rs ├── inverse_kinematics2.rs ├── joint_motor_position2.rs ├── joints2.rs ├── locked_rotations2.rs ├── one_way_platforms2.rs ├── pin_slot_joint2.rs ├── platform2.rs ├── polyline2.rs ├── pyramid2.rs ├── restitution2.rs ├── rope_joints2.rs ├── s2d_arch.rs ├── s2d_ball_and_chain.rs ├── s2d_bridge.rs ├── s2d_card_house.rs ├── s2d_confined.rs ├── s2d_far_pyramid.rs ├── s2d_high_mass_ratio_1.rs ├── s2d_high_mass_ratio_2.rs ├── s2d_high_mass_ratio_3.rs ├── s2d_joint_grid.rs ├── s2d_pyramid.rs ├── sensor2.rs ├── trimesh2.rs ├── utils │ ├── character.rs │ ├── mod.rs │ └── svg.rs └── voxels2.rs ├── examples3d-f64 ├── Cargo.toml ├── all_examples3-f64.rs ├── debug_serialized3.rs ├── rapier.data └── trimesh3_f64.rs ├── examples3d ├── Cargo.toml ├── all_examples3.rs ├── all_examples3_wasm.rs ├── ccd3.rs ├── character_controller3.rs ├── collision_groups3.rs ├── compound3.rs ├── convex_decomposition3.rs ├── convex_polyhedron3.rs ├── damping3.rs ├── debug_add_remove_collider3.rs ├── debug_articulations3.rs ├── debug_balls3.rs ├── debug_big_colliders3.rs ├── debug_boxes3.rs ├── debug_chain_high_mass_ratio3.rs ├── debug_cube_high_mass_ratio3.rs ├── debug_cylinder3.rs ├── debug_deserialize3.rs ├── debug_disabled3.rs ├── debug_dynamic_collider_add3.rs ├── debug_eccentric_boxes3.rs ├── debug_friction3.rs ├── debug_infinite_fall3.rs ├── debug_internal_edges3.rs ├── debug_long_chain3.rs ├── debug_multibody_ang_motor_pos3.rs ├── debug_pop3.rs ├── debug_prismatic3.rs ├── debug_rollback3.rs ├── debug_shape_modification3.rs ├── debug_sleeping_kinematic3.rs ├── debug_thin_cube_on_mesh3.rs ├── debug_triangle3.rs ├── debug_trimesh3.rs ├── debug_two_cubes3.rs ├── domino3.rs ├── dynamic_trimesh3.rs ├── fountain3.rs ├── gyroscopic3.rs ├── harness_capsules3.rs ├── heightfield3.rs ├── inverse_kinematics3.rs ├── joint_motor_position3.rs ├── joints3.rs ├── keva3.rs ├── locked_rotations3.rs ├── newton_cradle3.rs ├── one_way_platforms3.rs ├── platform3.rs ├── primitives3.rs ├── rapier.data ├── restitution3.rs ├── rope_joints3.rs ├── sensor3.rs ├── spring_joints3.rs ├── trimesh3.rs ├── urdf3.rs ├── utils │ ├── character.rs │ └── mod.rs ├── vehicle_controller3.rs ├── vehicle_joints3.rs └── voxels3.rs ├── publish-all.sh ├── rustfmt.toml ├── scripts ├── publish-extra-formats.sh ├── publish-rapier.sh └── publish-testbeds.sh ├── src ├── control │ ├── character_controller.rs │ ├── mod.rs │ ├── pid_controller.rs │ └── ray_cast_vehicle_controller.rs ├── counters │ ├── ccd_counters.rs │ ├── collision_detection_counters.rs │ ├── mod.rs │ ├── solver_counters.rs │ ├── stages_counters.rs │ └── timer.rs ├── data │ ├── arena.rs │ ├── coarena.rs │ ├── graph.rs │ ├── mod.rs │ ├── modified_objects.rs │ └── pubsub.rs ├── dynamics │ ├── ccd │ │ ├── ccd_solver.rs │ │ ├── mod.rs │ │ └── toi_entry.rs │ ├── coefficient_combine_rule.rs │ ├── integration_parameters.rs │ ├── island_manager.rs │ ├── joint │ │ ├── fixed_joint.rs │ │ ├── generic_joint.rs │ │ ├── impulse_joint │ │ │ ├── impulse_joint.rs │ │ │ ├── impulse_joint_set.rs │ │ │ └── mod.rs │ │ ├── mod.rs │ │ ├── motor_model.rs │ │ ├── multibody_joint │ │ │ ├── mod.rs │ │ │ ├── multibody.rs │ │ │ ├── multibody_ik.rs │ │ │ ├── multibody_joint.rs │ │ │ ├── multibody_joint_set.rs │ │ │ ├── multibody_link.rs │ │ │ ├── multibody_workspace.rs │ │ │ └── unit_multibody_joint.rs │ │ ├── pin_slot_joint.rs │ │ ├── prismatic_joint.rs │ │ ├── revolute_joint.rs │ │ ├── rope_joint.rs │ │ ├── spherical_joint.rs │ │ └── spring_joint.rs │ ├── mod.rs │ ├── rigid_body.rs │ ├── rigid_body_components.rs │ ├── rigid_body_set.rs │ └── solver │ │ ├── categorization.rs │ │ ├── contact_constraint │ │ ├── any_contact_constraint.rs │ │ ├── contact_constraint_element.rs │ │ ├── contact_constraints_set.rs │ │ ├── contact_with_coulomb_friction.rs │ │ ├── contact_with_twist_friction.rs │ │ ├── generic_contact_constraint.rs │ │ ├── generic_contact_constraint_element.rs │ │ └── mod.rs │ │ ├── interaction_groups.rs │ │ ├── island_solver.rs │ │ ├── joint_constraint │ │ ├── any_joint_constraint.rs │ │ ├── generic_joint_constraint.rs │ │ ├── generic_joint_constraint_builder.rs │ │ ├── joint_constraint_builder.rs │ │ ├── joint_constraints_set.rs │ │ ├── joint_velocity_constraint.rs │ │ └── mod.rs │ │ ├── mod.rs │ │ ├── parallel_island_solver.rs │ │ ├── parallel_solver_constraints.rs │ │ ├── parallel_velocity_solver.rs │ │ ├── solver_body.rs │ │ └── velocity_solver.rs ├── geometry │ ├── broad_phase_bvh.rs │ ├── broad_phase_pair_event.rs │ ├── collider.rs │ ├── collider_components.rs │ ├── collider_set.rs │ ├── contact_pair.rs │ ├── interaction_graph.rs │ ├── interaction_groups.rs │ ├── mesh_converter.rs │ ├── mod.rs │ └── narrow_phase.rs ├── lib.rs ├── pipeline │ ├── collision_pipeline.rs │ ├── debug_render_pipeline │ │ ├── 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