Rapier 3D Physics Engine

This set of fast and accurate 2D and 3D physics simulation libraries is written in Rust, designed for the WebAssembly and cross-platform game development ecosystem. Created by the Dimforge team led by Sebastien Crozet (the developer behind the nalgebra linear algebra library) in 2020, the project has over 4,500 stars as of 2026 and is used by Bevy, Fyrox, Macroquad, and other Rust game engines. Key features include: rigid body simulation (dynamic, kinematic position-based, and kinematic velocity-based body types with position, velocity, mass, center of mass, principal inertia, and angular damping), collider shapes (ball, cuboid, capsule, segment, triangle, polyline, convex hull, heightfield, trimesh, and round variants with configurable density, friction, and restitution), collision detection (broad phase via incremental sweep and prune, narrow phase via GJK and EPA for convex shapes), joints (fixed, prismatic, revolute, spherical, and generic joints with configurable limits, motors, and stiffness), character controller (built-in kinematic character controller with slope handling, step climbing, autostepping, and collision filtering), queries (ray casting, shape casting, point projection, and intersection tests for line-of-sight and pickup detection), CCD (Continuous Collision Detection via speculative contacts and substepping for fast-moving objects preventing tunneling), island-based solver (body islanding for parallel solver execution, isolating independent groups of bodies), determinism (cross-platform deterministic simulation for networked multiplayer games requiring consistent physics across clients), event handling (collision start, collision end, and contact force events for game logic), WebAssembly (compiled to WASM with JavaScript bindings for web game development), and Bevy integration (first-class integration with the Bevy game engine via bevy_rapier).