Getting started

Setting up Rapier with Cargo

rapier relies on the official Rust package manager Cargo for dependency resolution and compilation. Therefore, making rapier ready to use in your project is simply a matter of adding a new dependency to your Cargo.toml file. You can either use the rapier2d crate for 2D physics simulation or the rapier3d crate for 3D physics simulation. For high-precision simulation using 64-bits floats, use the rapier2d-f64 crate or the rapier3d-f64 crate crate.

Until rapier reaches 1.0, it is strongly recommended to always use its latest published version, though you may encounter breaking changes from time to time.

To get the best of rapier multiple features can be enabled optionally:

• simd-stable: enables explicit SIMD optimizations using the wide crate. Has limited cross-platform support but can be used with a stable version of the Rust compiler.
• simd-nightly: enables explicit SIMD optimizations using the packed_simd crate. Has a great cross-platform support but requires a nightly version of the Rust compiler.
• parallel: enables parallelism of the physics pipeline with the rayon crate.
• serde-serialize: enables serialization of the physics components with serde.
• enhanced-determinism: enables cross-platform determinism (assuming the rest of your code is also deterministic) across all 32-bit and 64-bit platforms that implements the IEEE 754-2008 standard strictly. This includes most modern processors as well as WASM targets.
• wasm-bindgen: enables usage of rapier as a dependency of a WASM crate that is compiled with wasm-bindgen.

warning

Enabling parallelism is only useful if the scene being simulated has a high number of moving rigid-bodies, colliders, and/or joints. If the simulation isn't sufficiently complex, the parallelism may actually make the simulation slower because of the parallelism overhead.

Currently, the enhanced-determinism feature cannot be enabled at the same time as the parallel or simd-{stable,nightly} features.

Cargo example

Example 2D

[package]

name = "example-using-rapier"

version = "0.0.0"

authors = [ "You" ]

[dependencies]

# TODO: Replace the * by the latest version number.

rapier2d = { version = "*", features = [ "simd-stable" ] }

[[bin]]

name = "example"

path = "./example.rs"

Example 3D

[package]

name = "example-using-rapier"

version = "0.0.0"

authors = [ "You" ]

[dependencies]

# TODO: Replace the * by the latest version number.

rapier3d = { version = "*", features = [ "simd-stable" ] }

[[bin]]

name = "example"

path = "./example.rs"

Basic simulation example

Here is a basic example of main.rs file. This creates a ball bouncing on a fixed ground. Details about the elements used in this examples are given in subsequent pages of this guide.

Example 2D

use rapier2d::prelude::*;

fn main() {

let mut rigid_body_set = RigidBodySet::new();

let mut collider_set = ColliderSet::new();

/* Create the ground. */

let collider = ColliderBuilder::cuboid(100.0, 0.1).build();

collider_set.insert(collider);

/* Create the bouncing ball. */

let rigid_body = RigidBodyBuilder::dynamic()

.translation(vector![0.0, 10.0])

.build();

let collider = ColliderBuilder::ball(0.5).restitution(0.7).build();

let ball_body_handle = rigid_body_set.insert(rigid_body);

collider_set.insert_with_parent(collider, ball_body_handle, &mut rigid_body_set);

/* Create other structures necessary for the simulation. */

let gravity = vector![0.0, -9.81];

let integration_parameters = IntegrationParameters::default();

let mut physics_pipeline = PhysicsPipeline::new();

let mut island_manager = IslandManager::new();

let mut broad_phase = BroadPhase::new();

let mut narrow_phase = NarrowPhase::new();

let mut impulse_joint_set = ImpulseJointSet::new();

let mut multibody_joint_set = MultibodyJointSet::new();

let mut ccd_solver = CCDSolver::new();

let physics_hooks = ();

let event_handler = ();

/* Run the game loop, stepping the simulation once per frame. */

for _ in 0..200 {

physics_pipeline.step(

&gravity,

&integration_parameters,

&mut island_manager,

&mut broad_phase,

&mut narrow_phase,

&mut rigid_body_set,

&mut collider_set,

&mut impulse_joint_set,

&mut multibody_joint_set,

&mut ccd_solver,

&physics_hooks,

&event_handler,

);

let ball_body = &rigid_body_set[ball_body_handle];

println!(

"Ball altitude: {}",

ball_body.translation().y

);

}

}

Example 3D

use rapier3d::prelude::*;

fn main() {

let mut rigid_body_set = RigidBodySet::new();

let mut collider_set = ColliderSet::new();

/* Create the ground. */

let collider = ColliderBuilder::cuboid(100.0, 0.1, 100.0).build();

collider_set.insert(collider);

/* Create the bounding ball. */

let rigid_body = RigidBodyBuilder::dynamic()

.translation(vector![0.0, 10.0, 0.0])

.build();

let collider = ColliderBuilder::ball(0.5).restitution(0.7).build();

let ball_body_handle = rigid_body_set.insert(rigid_body);

collider_set.insert_with_parent(collider, ball_body_handle, &mut rigid_body_set);

/* Create other structures necessary for the simulation. */

let gravity = vector![0.0, -9.81, 0.0];

let integration_parameters = IntegrationParameters::default();

let mut physics_pipeline = PhysicsPipeline::new();

let mut island_manager = IslandManager::new();

let mut broad_phase = BroadPhase::new();

let mut narrow_phase = NarrowPhase::new();

let mut impulse_joint_set = ImpulseJointSet::new();

let mut multibody_joint_set = MultibodyJointSet::new();

let mut ccd_solver = CCDSolver::new();

let physics_hooks = ();

let event_handler = ();

/* Run the game loop, stepping the simulation once per frame. */

for _ in 0..200 {

physics_pipeline.step(

&gravity,

&integration_parameters,

&mut island_manager,

&mut broad_phase,

&mut narrow_phase,

&mut rigid_body_set,

&mut collider_set,

&mut impulse_joint_set,

&mut multibody_joint_set,

&mut ccd_solver,

&physics_hooks,

&event_handler,

);

let ball_body = &rigid_body_set[ball_body_handle];

println!(

"Ball altitude: {}",

ball_body.translation().y

);

}

}