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‎CHANGELOG.md‎

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The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
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and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
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## [0.1.2] - 2026-06-06
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### Fixed
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- `oxiphysics-io`: Re-exported `particle_formats` types (`DcdWriter`, `DcdReader`, `XyzWriter`,
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`XyzReader`, `ParticleFrame`, `ParticleTrajectory`, `TrajectoryStats`, `BinaryFrameReader`,
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`BinaryFrameWriter`, `GroReader`, `GroWriter`, `DcdHeader`) at the crate root; a doctest for
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`DcdWriter` was previously failing with an unresolved import.
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- `oxiphysics-vehicle`: Fixed `hil.rs` module doctest — replaced non-existent `HilBridge` alias
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with `SimHilBridge` + `HilInterface` trait import; corrected `get_output` return type
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(`Option<f64>`) assertion.
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- `oxiphysics-wasm`: Fixed two module-level doctests — `SharedStateBuffer` needed `let mut` to
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call `write_body_position`; `WebGlRenderFrame.positions` is private, call `.positions()` method.
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### Added
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- `oxiphysics-python` (KF-5 — Python bindings): `PyCsg::union/intersection/subtraction` now
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delegate to the real `oxiphysics-geometry::mesh_boolean::mesh_boolean` algorithm (proper
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winding-number/ray-cast inside-outside classification + `cleanup_mesh`/`weld_vertices`)
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instead of the previous AABB-approximation stubs.
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- `oxiphysics-python` (KF-5): `PyPointCloud::poisson_reconstruct` now performs real **Implicit
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Moving Least Squares (IMLS)** surface reconstruction: PCA-estimated normals when absent,
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Gaussian-weighted tangent-plane signed-distance implicit, marching-cubes isosurface extraction
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via `oxiphysics-geometry::signed_distance_field::MarchingCubes`. Previously returned an empty
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mesh silently.
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- `oxiphysics-rigid`: `MotionPlanning` now carries a real `obstacles: Vec<PlanningObstacle>` field
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(n-dimensional C-space spheres). `is_collision_free` checks Euclidean distance to every
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obstacle; `is_segment_collision_free` prevents tunnelling in RRT/PRM edge expansion (10-sample
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discretisation). Builder `with_obstacles(...)` provided. Previously the check always returned
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`true`.
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- `oxiphysics-lbm`: `LbmGrid3D` now has a real `step(omega: f64)` method: BGK collision
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(equilibrium computed from cached `rho`/`ux`/`uy`/`uz`) + pull-scheme periodic streaming;
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`compute_macroscopic()` updates macroscopic fields after each step. Removed the dead empty
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`step_placeholder` (zero call sites).
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- `oxiphysics-md`: New `qm_mm` module — hybrid quantum-mechanics / molecular-mechanics support.
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QM region selectable via `QmMethod` (`Pm3` semi-empirical NDDO, `SccDftb` density-functional
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tight-binding, `Hf` Hartree-Fock/STO-3G, `DftB3lyp` Kohn-Sham LDA/VWN), MM region via
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force-field point charges, with mechanical/electrostatic embedding and hydrogen link-atom
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boundary capping. Each engine runs a real SCF loop (Löwdin-orthogonalised generalised
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eigensolver) and provides numerical Hellmann-Feynman forces.
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### Changed
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- Workspace-wide structural refactor (splitrs): oversized modules (>2000 LoC) — e.g.
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`oxiphysics-core` `types.rs`/`pde`/`linalg`, `oxiphysics-geometry` `bspline`, `oxiphysics-rigid`
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`kinematics`/`mechanism_rigid`, `oxiphysics-lbm` `mixing_lbm`, `oxiphysics-md`
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`quantum_chemistry`, `oxiphysics-viz` `multiphysics_viz` — were split into focused
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`types`/`functions` submodules, and redundant `#[allow(...)]` Clippy attributes were removed
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across the workspace. Public APIs are unchanged.
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- `oxiphysics-sph`: Refactored particle data structures across the SPH crate for clearer field
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layout and reduced duplication (no behavioural change).
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### Tests
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- 16 new unit/integration tests across `oxiphysics-python`, `oxiphysics-rigid`, `oxiphysics-lbm`
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covering the correctness fixes above (CSG operations, IMLS reconstruction, obstacle collision,
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segment collision, RRT path, LBM mass conservation, equilibrium fixed-point).
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## [0.1.1] - 2026-05-17
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### Changed
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- `oxiphysics-python`: Python bindings via PyO3
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- `oxiphysics-wasm`: WebAssembly bindings
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[0.1.2]: https://github.com/cool-japan/oxiphysics/releases/tag/v0.1.2
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[0.1.1]: https://github.com/cool-japan/oxiphysics/releases/tag/v0.1.1
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[0.1.0]: https://github.com/cool-japan/oxiphysics/releases/tag/v0.1.0

‎Cargo.toml‎

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resolver = "2"
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[workspace.package]
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version = "0.1.1"
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version = "0.1.2"
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edition = "2024"
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license = "Apache-2.0"
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repository = "https://github.com/cool-japan/oxiphysics"
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serde_json = "1"
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serde-wasm-bindgen = "0.6.5"
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criterion = { version = "0.8", features = ["html_reports"] }
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js-sys = "0.3.97"
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js-sys = "0.3.98"
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proptest = "1"
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numpy = "0.28.0"
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pyo3 = "0.28"
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wasm-bindgen = "0.2"
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wasm-bindgen-test = "0.3.70"
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web-sys = { version = "0.3.97", features = ["console", "Window", "Performance"] }
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wasm-bindgen-test = "0.3.71"
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web-sys = { version = "0.3.98", features = ["console", "Window", "Performance"] }
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rayon = "1"
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wgpu = "29"
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bitvec = "1"
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oxiarc-zstd = "0.2"
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oxifft = "0.3.1"
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oxiarc-zstd = "0.3.2"
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oxifft = "0.3.2"
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pollster = "0.4"
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bytemuck = { version = "1", features = ["derive"] }
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console_error_panic_hook = "0.1.7"
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getrandom = { version = "0.4", features = ["wasm_js"] }
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cudarc = { version = "0.19", default-features = false, features = ["driver", "nvrtc", "dynamic-loading", "cuda-12080"] }
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ndarray = { version = "0.17.2", default-features = false, features = ["std"] }
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scirs2-integrate = { version = "0.4.4" }
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scirs2-integrate = { version = "0.5.0" }
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# Workspace-internal dependencies
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oxiphysics-articulated = { path = "crates/oxiphysics-articulated", version = "0.1.1" }
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oxiphysics-core = { path = "crates/oxiphysics-core", version = "0.1.1" }
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oxiphysics-geometry = { path = "crates/oxiphysics-geometry", version = "0.1.1" }
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oxiphysics-collision = { path = "crates/oxiphysics-collision", version = "0.1.1" }
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oxiphysics-rigid = { path = "crates/oxiphysics-rigid", version = "0.1.1" }
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oxiphysics-constraints = { path = "crates/oxiphysics-constraints", version = "0.1.1" }
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oxiphysics-vehicle = { path = "crates/oxiphysics-vehicle", version = "0.1.1" }
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oxiphysics-sph = { path = "crates/oxiphysics-sph", version = "0.1.1" }
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oxiphysics-lbm = { path = "crates/oxiphysics-lbm", version = "0.1.1" }
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oxiphysics-fem = { path = "crates/oxiphysics-fem", version = "0.1.1" }
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oxiphysics-md = { path = "crates/oxiphysics-md", version = "0.1.1" }
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oxiphysics-softbody = { path = "crates/oxiphysics-softbody", version = "0.1.1" }
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oxiphysics-materials = { path = "crates/oxiphysics-materials", version = "0.1.1" }
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oxiphysics-gpu = { path = "crates/oxiphysics-gpu", version = "0.1.1" }
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oxiphysics-viz = { path = "crates/oxiphysics-viz", version = "0.1.1" }
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oxiphysics-io = { path = "crates/oxiphysics-io", version = "0.1.1" }
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oxiphysics = { path = "crates/oxiphysics", version = "0.1.1" }
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oxiphysics-python = { path = "crates/oxiphysics-python", version = "0.1.1" }
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oxiphysics-wasm = { path = "crates/oxiphysics-wasm", version = "0.1.1" }
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oxiphysics-articulated = { path = "crates/oxiphysics-articulated", version = "0.1.2" }
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oxiphysics-core = { path = "crates/oxiphysics-core", version = "0.1.2" }
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oxiphysics-geometry = { path = "crates/oxiphysics-geometry", version = "0.1.2" }
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oxiphysics-collision = { path = "crates/oxiphysics-collision", version = "0.1.2" }
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oxiphysics-rigid = { path = "crates/oxiphysics-rigid", version = "0.1.2" }
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oxiphysics-constraints = { path = "crates/oxiphysics-constraints", version = "0.1.2" }
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oxiphysics-vehicle = { path = "crates/oxiphysics-vehicle", version = "0.1.2" }
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oxiphysics-sph = { path = "crates/oxiphysics-sph", version = "0.1.2" }
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oxiphysics-lbm = { path = "crates/oxiphysics-lbm", version = "0.1.2" }
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oxiphysics-fem = { path = "crates/oxiphysics-fem", version = "0.1.2" }
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oxiphysics-md = { path = "crates/oxiphysics-md", version = "0.1.2" }
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oxiphysics-softbody = { path = "crates/oxiphysics-softbody", version = "0.1.2" }
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oxiphysics-materials = { path = "crates/oxiphysics-materials", version = "0.1.2" }
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oxiphysics-gpu = { path = "crates/oxiphysics-gpu", version = "0.1.2" }
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oxiphysics-viz = { path = "crates/oxiphysics-viz", version = "0.1.2" }
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oxiphysics-io = { path = "crates/oxiphysics-io", version = "0.1.2" }
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oxiphysics = { path = "crates/oxiphysics", version = "0.1.2" }
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oxiphysics-python = { path = "crates/oxiphysics-python", version = "0.1.2" }
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oxiphysics-wasm = { path = "crates/oxiphysics-wasm", version = "0.1.2" }

‎README.md‎

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[![Crates.io](https://img.shields.io/crates/v/oxiphysics?label=oxiphysics&color=orange)](https://crates.io/crates/oxiphysics)
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[![docs.rs](https://img.shields.io/docsrs/oxiphysics)](https://docs.rs/oxiphysics)
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[![License: Apache-2.0](https://img.shields.io/badge/license-Apache--2.0-blue.svg)](LICENSE)
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[![Version](https://img.shields.io/badge/version-0.1.1-green.svg)](CHANGELOG.md)
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[![Version](https://img.shields.io/badge/version-0.1.2-green.svg)](CHANGELOG.md)
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OxiPhysics is a unified, pure-Rust physics engine targeting the same problem
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domains as **Bullet** (rigid body), **OpenFOAM** (CFD), **LAMMPS** (molecular
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---
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## Implementation Status — v0.1.1 (2026-05-17)
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## Implementation Status — v0.1.2 (2026-06-06)
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| Crate | Status | Tests | Domain summary |
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|---|---|---|---|
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| `oxiphysics-core` | **Stable** | 5,348 | Math, numerics, ODE, stochastic, tensors, signal processing, 80+ modules |
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| `oxiphysics-geometry` | **Stable** | 3,089 | Shapes, meshes, computational geometry, NURBS, CSG, 57+ modules |
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| `oxiphysics-collision` | **Stable** | 2,439 | GJK/EPA, SAP, BVH, CCD, ray casting, contact graphs |
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| `oxiphysics-materials` | **Stable** | 4,486 | Material models, hyperelastic, composites, biomaterials, smart materials |
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| `oxiphysics-fem` | **Stable** | 4,561 | Linear+nonlinear FEM, XFEM, spectral, stochastic FEM, 124 source files |
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| `oxiphysics-core` | **Stable** | 5,378 | Math, numerics, ODE, stochastic, tensors, signal processing, 80+ modules |
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| `oxiphysics-geometry` | **Stable** | 3,120 | Shapes, meshes, computational geometry, NURBS, CSG, 57+ modules |
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| `oxiphysics-collision` | **Stable** | 2,443 | GJK/EPA, SAP, BVH, CCD, ray casting, contact graphs |
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| `oxiphysics-materials` | **Stable** | 4,506 | Material models, hyperelastic, composites, biomaterials, smart materials |
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| `oxiphysics-fem` | **Stable** | 4,620 | Linear+nonlinear FEM, XFEM, spectral, stochastic FEM, 124 source files |
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| `oxiphysics-gpu` | **Alpha** | 2,811 | CPU-fallback compute backend, ParticleSystem, parallel sort |
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| `oxiphysics-io` | **Stable** | 4,849 | VTK, PDB, LAMMPS, OpenFOAM, GLTF, HDF5, 80+ format modules |
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| `oxiphysics-lbm` | **Stable** | 5,313 | LBM D3Q19/D3Q27, MRT, multiphase, MHD, biofluid, traffic |
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| `oxiphysics-md` | **Stable** | 5,139 | MD forcefield, QM/MM, REMD, free energy, LAMMPS/AMBER compat |
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| `oxiphysics-sph` | **Stable** | 4,367 | WCSPH, IISPH, DFSPH, PCISPH, free surface, multiphase SPH |
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| `oxiphysics-rigid` | **Stable** | 3,810 | Rigid body dynamics, aerospace, spacecraft, marine, swarm |
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| `oxiphysics-softbody` | **Stable** | 3,469 | PBD, XPBD, cloth, hair, ropes, Cosserat rods, surgical sim |
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| `oxiphysics-constraints` | **Stable** | 2,173 | PGS/TGS solvers, joints, motors, islands, trajectory opt |
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| `oxiphysics-vehicle` | **Stable** | 2,669 | Vehicle dynamics, Pacejka tires, EV, autonomous driving |
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| `oxiphysics-viz` | **Stable** | 4,072 | CPU software renderer, scientific plotting, volume rendering, VR |
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| `oxiphysics-python` | **Stable** | 25,257 | PyO3 0.28 bindings — 210 `#[pyclass]` across 14 domain modules |
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| `oxiphysics-wasm` | **Stable** | 27,215 | wasm-bindgen 0.2 bindings — 929 `#[wasm_bindgen]` across 27+ bridge files |
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| `oxiphysics-io` | **Stable** | 4,879 | VTK, PDB, LAMMPS, OpenFOAM, GLTF, HDF5, 80+ format modules |
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| `oxiphysics-lbm` | **Stable** | 5,320 | LBM D3Q19/D3Q27, MRT, multiphase, MHD, biofluid, traffic |
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| `oxiphysics-md` | **Stable** | 5,171 | MD forcefield, QM/MM, REMD, free energy, LAMMPS/AMBER compat |
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| `oxiphysics-sph` | **Stable** | 4,370 | WCSPH, IISPH, DFSPH, PCISPH, free surface, multiphase SPH |
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| `oxiphysics-rigid` | **Stable** | 3,820 | Rigid body dynamics, aerospace, spacecraft, marine, swarm |
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| `oxiphysics-softbody` | **Stable** | 3,473 | PBD, XPBD, cloth, hair, ropes, Cosserat rods, surgical sim |
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| `oxiphysics-constraints` | **Stable** | 2,188 | PGS/TGS solvers, joints, motors, islands, trajectory opt |
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| `oxiphysics-vehicle` | **Stable** | 2,687 | Vehicle dynamics, Pacejka tires, EV, autonomous driving |
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| `oxiphysics-viz` | **Stable** | 4,114 | CPU software renderer, scientific plotting, volume rendering, VR |
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| `oxiphysics-python` | **Stable** | — | PyO3 0.28 bindings — 210 `#[pyclass]` across 14 domain modules |
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| `oxiphysics-wasm` | **Stable** | 922 | wasm-bindgen 0.2 bindings — 929 `#[wasm_bindgen]` across 27+ bridge files |
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| `oxiphysics` | top-level re-exports | — | Single-crate entry point for all modules |
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*`oxiphysics-python` is validated via its pytest suite (PyO3 extension-module; not counted in the cargo nextest total).*
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## Highlights
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- **Zero stubs** — no `todo!()` or `unimplemented!()` calls anywhere in the workspace.
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- **~60,087 tests** across 17 crates, all passing under `cargo nextest`.
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- **60,115 tests** (11 skipped) across the workspace, all passing under `cargo nextest`.
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- **Strict docs** — `RUSTDOCFLAGS='-D warnings' cargo doc` passes with no missing-docs warnings.
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- **Pure Rust** — zero C/Fortran build-time dependencies; default features are 100% Rust.
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- **`cargo publish --dry-run` passes** for the top-level `oxiphysics` crate.
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```toml
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[dependencies]
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oxiphysics = "0.1.2"
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Or use individual sub-crates for smaller build graphs, e.g.:
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```toml
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[dependencies]
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oxiphysics-core = "0.1.1"
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oxiphysics-collision = "0.1.1"
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oxiphysics-rigid = "0.1.1"
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oxiphysics-core = "0.1.2"
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oxiphysics-collision = "0.1.2"
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oxiphysics-rigid = "0.1.2"
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```
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