Cargo.lock

@@ -46,6 +46,12 @@ dependencies = [
  "zerocopy",
 ]
 
+[[package]]
+name = "allocator-api2"
+version = "0.2.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
+
 [[package]]
 name = "android-activity"
 version = "0.6.0"
@@ -64,7 +70,7 @@ dependencies = [
  "ndk-context",
  "ndk-sys",
  "num_enum",
- "thiserror",
+ "thiserror 1.0.69",
 ]
 
 [[package]]
@@ -79,6 +85,15 @@ version = "1.0.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b0674a1ddeecb70197781e945de4b3b8ffb61fa939a5597bcf48503737663100"
 
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "arrayref"
 version = "0.3.9"
@@ -130,6 +145,12 @@ version = "0.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
 
+[[package]]
+name = "bit-vec"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5e764a1d40d510daf35e07be9eb06e75770908c27d411ee6c92109c9840eaaf7"
+
 [[package]]
 name = "bit_field"
 version = "0.10.3"
@@ -198,7 +219,7 @@ dependencies = [
  "polling",
  "rustix 0.38.44",
  "slab",
- "thiserror",
+ "thiserror 1.0.69",
 ]
 
 [[package]]
@@ -393,12 +414,33 @@ version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2"
 
+[[package]]
+name = "downcast-rs"
+version = "2.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "117240f60069e65410b3ae1bb213295bd828f707b5bec6596a1afc8793ce0cbc"
+
 [[package]]
 name = "dpi"
 version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d8b14ccef22fc6f5a8f4d7d768562a182c04ce9a3b3157b91390b52ddfdf1a76"
 
+[[package]]
+name = "either"
+version = "1.15.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719"
+
+[[package]]
+name = "ena"
+version = "0.14.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d248bdd43ce613d87415282f69b9bb99d947d290b10962dd6c56233312c2ad5"
+dependencies = [
+ "log",
+]
+
 [[package]]
 name = "equivalent"
 version = "1.0.2"
@@ -455,6 +497,18 @@ version = "1.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
+[[package]]
+name = "foldhash"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d9c4f5dac5e15c24eb999c26181a6ca40b39fe946cbe4c263c7209467bc83af2"
+
+[[package]]
+name = "foldhash"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77ce24cb58228fbb8aa041425bb1050850ac19177686ea6e0f41a70416f56fdb"
+
 [[package]]
 name = "foreign-types"
 version = "0.5.0"
@@ -521,6 +575,96 @@ dependencies = [
  "xml-rs",
 ]
 
+[[package]]
+name = "glam"
+version = "0.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "333928d5eb103c5d4050533cec0384302db6be8ef7d3cebd30ec6a35350353da"
+
+[[package]]
+name = "glam"
+version = "0.15.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3abb554f8ee44336b72d522e0a7fe86a29e09f839a36022fa869a7dfe941a54b"
+
+[[package]]
+name = "glam"
+version = "0.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4126c0479ccf7e8664c36a2d719f5f2c140fbb4f9090008098d2c291fa5b3f16"
+
+[[package]]
+name = "glam"
+version = "0.17.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e01732b97afd8508eee3333a541b9f7610f454bb818669e66e90f5f57c93a776"
+
+[[package]]
+name = "glam"
+version = "0.18.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "525a3e490ba77b8e326fb67d4b44b4bd2f920f44d4cc73ccec50adc68e3bee34"
+
+[[package]]
+name = "glam"
+version = "0.19.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b8509e6791516e81c1a630d0bd7fbac36d2fa8712a9da8662e716b52d5051ca"
+
+[[package]]
+name = "glam"
+version = "0.20.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f43e957e744be03f5801a55472f593d43fabdebf25a4585db250f04d86b1675f"
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "518faa5064866338b013ff9b2350dc318e14cc4fcd6cb8206d7e7c9886c98815"
+
+[[package]]
+name = "glam"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12f597d56c1bd55a811a1be189459e8fad2bbc272616375602443bdfb37fa774"
+
+[[package]]
+name = "glam"
+version = "0.23.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e4afd9ad95555081e109fe1d21f2a30c691b5f0919c67dfa690a2e1eb6bd51c"
+
+[[package]]
+name = "glam"
+version = "0.24.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5418c17512bdf42730f9032c74e1ae39afc408745ebb2acf72fbc4691c17945"
+
+[[package]]
+name = "glam"
+version = "0.25.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "151665d9be52f9bb40fc7966565d39666f2d1e69233571b71b87791c7e0528b3"
+
+[[package]]
+name = "glam"
+version = "0.27.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e05e7e6723e3455f4818c7b26e855439f7546cf617ef669d1adedb8669e5cb9"
+
+[[package]]
+name = "glam"
+version = "0.28.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "779ae4bf7e8421cf91c0b3b64e7e8b40b862fba4d393f59150042de7c4965a94"
+
+[[package]]
+name = "glam"
+version = "0.29.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8babf46d4c1c9d92deac9f7be466f76dfc4482b6452fc5024b5e8daf6ffeb3ee"
+
 [[package]]
 name = "glam"
 version = "0.30.8"
@@ -659,6 +803,15 @@ dependencies = [
  "crunchy",
 ]
 
+[[package]]
+name = "hash32"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "hashbrown"
 version = "0.14.5"
@@ -673,6 +826,30 @@ name = "hashbrown"
 version = "0.15.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5971ac85611da7067dbfcabef3c70ebb5606018acd9e2a3903a0da507521e0d5"
+dependencies = [
+ "allocator-api2",
+ "equivalent",
+ "foldhash 0.1.5",
+]
+
+[[package]]
+name = "hashbrown"
+version = "0.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5419bdc4f6a9207fbeba6d11b604d481addf78ecd10c11ad51e76c2f6482748d"
+dependencies = [
+ "foldhash 0.2.0",
+]
+
+[[package]]
+name = "heapless"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+dependencies = [
+ "hash32",
+ "stable_deref_trait",
+]
 
 [[package]]
 name = "hecs"
@@ -784,7 +961,7 @@ dependencies = [
  "combine",
  "jni-sys",
  "log",
- "thiserror",
+ "thiserror 1.0.69",
  "walkdir",
  "windows-sys 0.45.0",
 ]
@@ -849,6 +1026,12 @@ dependencies = [
  "windows-targets 0.53.3",
 ]
 
+[[package]]
+name = "libm"
+version = "0.2.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
+
 [[package]]
 name = "libredox"
 version = "0.1.9"
@@ -888,6 +1071,16 @@ version = "0.4.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "13dc2df351e3202783a1fe0d44375f7295ffb4049267b0f3018346dc122a1d94"
 
+[[package]]
+name = "matrixmultiply"
+version = "0.3.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a06de3016e9fae57a36fd14dba131fccf49f74b40b7fbdb472f96e361ec71a08"
+dependencies = [
+ "autocfg",
+ "rawpointer",
+]
+
 [[package]]
 name = "memchr"
 version = "2.7.5"
@@ -938,6 +1131,49 @@ dependencies = [
  "pxfm",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.34.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c4d5b3eff5cd580f93da45e64715e8c20a3996342f1e466599cf7a267a0c2f5f"
+dependencies = [
+ "approx",
+ "glam 0.14.0",
+ "glam 0.15.2",
+ "glam 0.16.0",
+ "glam 0.17.3",
+ "glam 0.18.0",
+ "glam 0.19.0",
+ "glam 0.20.5",
+ "glam 0.21.3",
+ "glam 0.22.0",
+ "glam 0.23.0",
+ "glam 0.24.2",
+ "glam 0.25.0",
+ "glam 0.27.0",
+ "glam 0.28.0",
+ "glam 0.29.3",
+ "glam 0.30.8",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "973e7178a678cfd059ccec50887658d482ce16b0aa9da3888ddeab5cd5eb4889"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "ndk"
 version = "0.9.0"
@@ -950,7 +1186,7 @@ dependencies = [
  "ndk-sys",
  "num_enum",
  "raw-window-handle",
- "thiserror",
+ "thiserror 1.0.69",
 ]
 
 [[package]]
@@ -968,6 +1204,56 @@ dependencies = [
  "jni-sys",
 ]
 
+[[package]]
+name = "num-bigint"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9"
+dependencies = [
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-complex"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-derive"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "num-integer"
+version = "0.1.46"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
+dependencies = [
+ "num-bigint",
+ "num-integer",
+ "num-traits",
+]
+
 [[package]]
 name = "num-traits"
 version = "0.2.19"
@@ -975,6 +1261,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
  "autocfg",
+ "libm",
 ]
 
 [[package]]
@@ -1269,6 +1556,15 @@ dependencies = [
  "libredox",
 ]
 
+[[package]]
+name = "ordered-float"
+version = "5.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f4779c6901a562440c3786d08192c6fbda7c1c2060edd10006b05ee35d10f2d"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "owned_ttf_parser"
 version = "0.25.1"
@@ -1301,6 +1597,40 @@ dependencies = [
  "windows-targets 0.52.6",
 ]
 
+[[package]]
+name = "parry3d"
+version = "0.25.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "017be73f24c8ca8b10f9727616e5cb9af82b98488cc6d5eea468e727ffa780ca"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags 2.9.1",
+ "downcast-rs 2.0.2",
+ "either",
+ "ena",
+ "foldhash 0.2.0",
+ "hashbrown 0.16.0",
+ "log",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "ordered-float",
+ "rstar",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+ "static_assertions",
+ "thiserror 2.0.17",
+]
+
+[[package]]
+name = "paste"
+version = "1.0.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
+
 [[package]]
 name = "percent-encoding"
 version = "2.3.1"
@@ -1384,6 +1714,25 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "profiling"
+version = "1.0.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3eb8486b569e12e2c32ad3e204dbaba5e4b5b216e9367044f25f1dba42341773"
+dependencies = [
+ "profiling-procmacros",
+]
+
+[[package]]
+name = "profiling-procmacros"
+version = "1.0.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "52717f9a02b6965224f95ca2a81e2e0c5c43baacd28ca057577988930b6c3d5b"
+dependencies = [
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "pxfm"
 version = "0.1.24"
@@ -1436,19 +1785,21 @@ dependencies = [
 name = "raidillon_ecs"
 version = "0.1.0"
 dependencies = [
- "glam",
+ "glam 0.30.8",
  "raidillon_assets",
+ "rapier3d",
 ]
 
 [[package]]
 name = "raidillon_engine"
 version = "0.1.0"
 dependencies = [
- "glam",
+ "glam 0.30.8",
  "hecs",
  "indexmap",
  "raidillon_assets",
  "raidillon_core",
+ "raidillon_ecs",
  "raidillon_platform",
  "winit",
 ]
@@ -1457,13 +1808,16 @@ dependencies = [
 name = "raidillon_game"
 version = "0.1.0"
 dependencies = [
- "glam",
+ "glam 0.30.8",
+ "hecs",
  "raidillon_assets",
  "raidillon_core",
  "raidillon_ecs",
  "raidillon_engine",
  "raidillon_glium",
+ "raidillon_physics",
  "raidillon_platform",
+ "rapier3d",
  "winit",
 ]
 
@@ -1473,7 +1827,7 @@ version = "0.1.0"
 dependencies = [
  "anyhow",
  "exr",
- "glam",
+ "glam 0.30.8",
  "glium",
  "gltf",
  "image",
@@ -1489,22 +1843,62 @@ dependencies = [
  "winit",
 ]
 
+[[package]]
+name = "raidillon_physics"
+version = "0.1.0"
+dependencies = [
+ "glam 0.30.8",
+ "raidillon_ecs",
+ "rapier3d",
+]
+
 [[package]]
 name = "raidillon_platform"
 version = "0.1.0"
 dependencies = [
- "glam",
+ "glam 0.30.8",
  "raidillon_assets",
  "raidillon_core",
  "winit",
 ]
 
+[[package]]
+name = "rapier3d"
+version = "0.30.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5bd27b8eb36d0833fa0f2aea40164fabfad0fc34b9932286ae9e84f3452f5364"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bit-vec",
+ "bitflags 2.9.1",
+ "downcast-rs 2.0.2",
+ "log",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "ordered-float",
+ "parry3d",
+ "profiling",
+ "rustc-hash",
+ "simba",
+ "static_assertions",
+ "thiserror 2.0.17",
+ "wide",
+]
+
 [[package]]
 name = "raw-window-handle"
 version = "0.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "20675572f6f24e9e76ef639bc5552774ed45f1c30e2951e1e99c59888861c539"
 
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
 [[package]]
 name = "rayon-core"
 version = "1.13.0"
@@ -1533,12 +1927,35 @@ dependencies = [
  "bitflags 2.9.1",
 ]
 
+[[package]]
+name = "robust"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4e27ee8bb91ca0adcf0ecb116293afa12d393f9c2b9b9cd54d33e8078fe19839"
+
+[[package]]
+name = "rstar"
+version = "0.12.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "421400d13ccfd26dfa5858199c30a5d76f9c54e0dba7575273025b43c5175dbb"
+dependencies = [
+ "heapless",
+ "num-traits",
+ "smallvec",
+]
+
 [[package]]
 name = "rustc-demangle"
 version = "0.1.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "56f7d92ca342cea22a06f2121d944b4fd82af56988c270852495420f961d4ace"
 
+[[package]]
+name = "rustc-hash"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d"
+
 [[package]]
 name = "rustix"
 version = "0.38.44"
@@ -1577,6 +1994,15 @@ version = "1.0.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "28d3b2b1366ec20994f1fd18c3c594f05c5dd4bc44d8bb0c1c632c8d6829481f"
 
+[[package]]
+name = "safe_arch"
+version = "0.7.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96b02de82ddbe1b636e6170c21be622223aea188ef2e139be0a5b219ec215323"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "same-file"
 version = "1.0.6"
@@ -1649,6 +2075,19 @@ version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
 
+[[package]]
+name = "simba"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c99284beb21666094ba2b75bbceda012e610f5479dfcc2d6e2426f53197ffd95"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
 [[package]]
 name = "simd-adler32"
 version = "0.3.7"
@@ -1681,7 +2120,7 @@ dependencies = [
  "log",
  "memmap2",
  "rustix 0.38.44",
- "thiserror",
+ "thiserror 1.0.69",
  "wayland-backend",
  "wayland-client",
  "wayland-csd-frame",
@@ -1701,12 +2140,36 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "spade"
+version = "2.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a14e31a007e9f85c32784b04f89e6e194bb252a4d41b4a8ccd9e77245d901c8c"
+dependencies = [
+ "hashbrown 0.15.4",
+ "num-traits",
+ "robust",
+ "smallvec",
+]
+
 [[package]]
 name = "spin"
 version = "0.9.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
 
+[[package]]
+name = "stable_deref_trait"
+version = "1.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ce2be8dc25455e1f91df71bfa12ad37d7af1092ae736f3a6cd0e37bc7810596"
+
+[[package]]
+name = "static_assertions"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
+
 [[package]]
 name = "strict-num"
 version = "0.1.1"
@@ -1730,7 +2193,16 @@ version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52"
 dependencies = [
- "thiserror-impl",
+ "thiserror-impl 1.0.69",
+]
+
+[[package]]
+name = "thiserror"
+version = "2.0.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f63587ca0f12b72a0600bcba1d40081f830876000bb46dd2337a3051618f4fc8"
+dependencies = [
+ "thiserror-impl 2.0.17",
 ]
 
 [[package]]
@@ -1744,6 +2216,17 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "thiserror-impl"
+version = "2.0.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "tiny-skia"
 version = "0.11.4"
@@ -1808,6 +2291,12 @@ version = "0.25.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d2df906b07856748fa3f6e0ad0cbaa047052d4a7dd609e231c4f72cee8c36f31"
 
+[[package]]
+name = "typenum"
+version = "1.19.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "562d481066bde0658276a35467c4af00bdc6ee726305698a55b86e61d7ad82bb"
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.18"
@@ -1929,7 +2418,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "673a33c33048a5ade91a6b139580fa174e19fb0d23f396dca9fa15f2e1e49b35"
 dependencies = [
  "cc",
- "downcast-rs",
+ "downcast-rs 1.2.1",
  "rustix 1.0.8",
  "scoped-tls",
  "smallvec",
@@ -2051,6 +2540,16 @@ dependencies = [
  "wasm-bindgen",
 ]
 
+[[package]]
+name = "wide"
+version = "0.7.33"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ce5da8ecb62bcd8ec8b7ea19f69a51275e91299be594ea5cc6ef7819e16cd03"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
 [[package]]
 name = "winapi-util"
 version = "0.1.9"

Cargo.toml

@@ -7,4 +7,5 @@ members = [
     "game",
     "ecs",
     "engine",
+    "physics",
 ]

ecs/Cargo.toml

@@ -6,3 +6,4 @@ edition = "2024"
 [dependencies]
 glam = "0.30.5"
 raidillon_assets = { path = "../asset" }
+rapier3d = "0.30.1"

ecs/src/components.rs

@@ -15,3 +15,16 @@ impl Transform {
 }
 
 pub struct ModelHandle(pub ModelID);
+
+#[derive(Copy, Clone)]
+pub struct RigidBodyComponent(pub rapier3d::dynamics::RigidBodyHandle);
+
+#[derive(Copy, Clone)]
+pub struct CharacterBodyComponent(pub rapier3d::dynamics::RigidBodyHandle);
+
+#[derive(Debug, Default, PartialEq, Eq, Clone, Copy)]
+pub enum CameraMode {
+    #[default]
+    Kinematic,
+    Debug,
+}

engine/Cargo.toml

@@ -7,6 +7,7 @@ edition = "2024"
 raidillon_assets = { path = "../asset" }
 raidillon_core = { path = "../core" }
 raidillon_platform = { path = "../platform" }
+raidillon_ecs = { path = "../ecs" }
 winit = "0.30.12"
 hecs = "0.10.5"
 indexmap = "2.10.0"

engine/src/lib.rs

@@ -6,3 +6,4 @@ mod resources;
 
 pub use crate::engine::Engine;
 pub use crate::resources::EngineResources;
+pub use input::InputState;

engine/src/systems/mod.rs

@@ -1 +0,0 @@
-pub mod fps_camera;

game/Cargo.toml

@@ -13,6 +13,9 @@ raidillon_platform = { path = "../platform" }
 raidillon_assets = { path = "../asset" }
 raidillon_ecs = { path = "../ecs" }
 raidillon_engine = { path = "../engine" }
+raidillon_physics = { path = "../physics" }
 raidillon_glium = { path = "../glium_platform", optional = true }
 glam = "0.30.5"
 winit = "0.30.12"
+rapier3d = "0.30.1"
+hecs = "0.10.5"

game/src/main.rs

@@ -1,11 +1,14 @@
+mod systems;
 use std::fmt::format;
 use glam::{Quat, Vec3};
-use raidillon_engine::{Engine, system::System, EngineResources};
+use rapier3d::dynamics::{CoefficientCombineRule, RigidBodyType};
+use rapier3d::prelude::ColliderBuilder;
+use raidillon_engine::{Engine, system::System, EngineResources, InputState};
 use raidillon_engine::system::SystemContext;
 use raidillon_platform::{Platform, Camera, PlatformContext};
 use raidillon_assets::model_path;
 use raidillon_core::engine::EngineTrait;
-use raidillon_ecs::components::ModelHandle;
+use raidillon_ecs::components::{CameraMode, CharacterBodyComponent, ModelHandle, RigidBodyComponent};
 use raidillon_ecs::Transform;
 use raidillon_core::scene::Scene;
 #[cfg(feature = "glium")]
@@ -14,10 +17,13 @@ use winit::event::{ElementState, Event, WindowEvent};
 use winit::event::DeviceEvent::MouseMotion;
 use winit::keyboard::{KeyCode, PhysicalKey};
 use raidillon_core::DebugUIBuffer;
-use raidillon_engine::systems::fps_camera::FPSDebugCameraSystem;
+use systems::debug_camera::FPSDebugCameraSystem;
-
+use raidillon_glium::RenderingSystem;
-const TEST_GLTF: &str = "pink-monkey.gltf";
+use raidillon_physics::Physics;
+use crate::systems::{KeybindsSystem, KinematicCharacterController, PhysicsSystem};
 
+const TEST_GLTF: &str = "sphere.glb";
+const PLANE_GLTF: &str = "plane.glb";
 const MAIN_SCENE_ID: &str = "main_scene";
 
 #[derive(Default)]
@@ -40,54 +46,83 @@ impl System for UpdateAspectRatioSystem {
 }
 
 #[derive(Default)]
-struct RenderingTestSystem {
+struct RenderingTestSystem;
-    rotation_speed: std::rc::Rc<std::cell::RefCell<f32>>,
-}
 
 impl System for RenderingTestSystem {
     fn load_world(&mut self, res: &mut EngineResources, scene: &mut Scene) {
-        let pctx = res.get::<PlatformContext>().unwrap();
+        let pctx = res.get::<PlatformContext>().expect("PlatformContext missing").clone();
+        let physics = scene.resources.get_mut::<Physics>().expect("Physics missing");
 
-        self.rotation_speed = std::rc::Rc::new(std::cell::RefCell::new(5.0));
+        // Spawn Sphere
-
+        {
-        let mut am = pctx.asset_manager.borrow_mut();
+            let tr = Transform {
-
+                translation: Vec3::new(0.0, 5.0, 0.0),
-        am.load_gltf(TEST_GLTF, &model_path(TEST_GLTF));
-
-        scene.world.spawn((
-            Transform {
-              translation: Vec3::new(0.0, 0.0, 0.0),
                 rotation: Quat::IDENTITY,
                 scale: Vec3::new(1.0, 1.0, 1.0),
-            },
+            };
+            let collider = ColliderBuilder::ball(1.0)
+                .restitution(0.7)
+                .restitution_combine_rule(CoefficientCombineRule::Max)
+                .build();
+            let rb_handle = physics.add_rigid_body(RigidBodyType::Dynamic, tr, collider);
+            pctx.asset_manager.borrow_mut().load_gltf(TEST_GLTF, &model_path(TEST_GLTF));
+            scene.world.spawn((
+                tr,
                 ModelHandle(TEST_GLTF),
+                RigidBodyComponent(rb_handle),
+            ));
+        }
+        // Spawn Plane
+        {
+            let tr = Transform {
+                translation: Vec3::new(0.0, 0.0, 0.0),
+                rotation: Quat::IDENTITY,
+                scale: Vec3::new(10.0, 1.0, 10.0),
+            };
+            let collider = ColliderBuilder::cuboid(10.0, 0.01, 10.0).build();
+            let rb_handle = physics.add_rigid_body(RigidBodyType::Fixed, tr, collider);
+            pctx.asset_manager.borrow_mut().load_gltf(PLANE_GLTF, &model_path(PLANE_GLTF));
+            scene.world.spawn((
+                tr,
+                ModelHandle(PLANE_GLTF),
+                RigidBodyComponent(rb_handle),
+            ));
+        }
+
+        scene.world.spawn((Camera {
+            eye:    Vec3::new(0.0, 2.0, 3.0),
+            center: Vec3::ZERO,
+            up:     Vec3::Y,
+            fovy:   60_f32.to_radians(),
+            aspect: pctx.frame_width / pctx.frame_height,
+            znear:  0.1,
+            zfar:   100.0},
+            CameraMode::default(),
         ));
     }
 
     fn frame_update(&mut self, res: &mut EngineResources, scene: &mut Scene) {
         let pctx = res.get::<PlatformContext>().unwrap();
+        let input = res.get::<InputState>().unwrap();
         let dbg_ui = scene.resources.get_mut::<DebugUIBuffer>().unwrap();
 
         dbg_ui.text("Hello World!".to_owned());
         dbg_ui.text(format!("Frame Delta: {}", pctx.time_ctx.frame_dt));
         dbg_ui.text(format!("Fixed Delta: {}", pctx.time_ctx.fixed_dt));
         dbg_ui.text(format!("FPS: {}", 1.0 / pctx.time_ctx.frame_dt));
-        dbg_ui.slider_f32("Rotation Speed", -10.0, 10.0, self.rotation_speed.clone());
+
+        for (_ent, (tr, ch_component)) in scene.world.query::<(&Transform, &CharacterBodyComponent)>().iter() {
+            dbg_ui.text(format!("Character POS: {}", tr.translation));
         }
-
-    fn fixed_update(&mut self, res: &mut EngineResources, scene: &mut Scene) {
-        let pctx = res.get::<PlatformContext>().unwrap();
-
-        scene.world.query_mut::<(&mut Transform, &ModelHandle)>().into_iter().for_each(|(_, (t, _))| {
-            t.rotation *= Quat::from_rotation_y(*self.rotation_speed.borrow() * pctx.time_ctx.fixed_dt);
-        });
     }
-
 }
 
 fn main() {
     let mut engine = Engine::new();
     // Define systems
+    engine.system_manager.add::<PhysicsSystem>();
+    engine.system_manager.add::<KeybindsSystem>();
+    engine.system_manager.add::<KinematicCharacterController>();
     engine.system_manager.add::<FPSDebugCameraSystem>();
     engine.system_manager.add::<RenderingTestSystem>();
     engine.system_manager.add::<UpdateAspectRatioSystem>();

game/src/systems/debug_camera.rs

@@ -1,4 +1,4 @@
-use crate::system::{System, SystemContext};
+use raidillon_engine::system::{System, SystemContext};
 use glam::{Quat, Vec3};
 use winit::event::DeviceEvent::MouseMotion;
 use winit::event::{ElementState, Event, MouseButton, WindowEvent};
@@ -6,9 +6,10 @@ use winit::keyboard::{KeyCode, PhysicalKey};
 use winit::window::CursorGrabMode;
 use raidillon_assets::model_path;
 use raidillon_platform::{Camera, PlatformContext};
-use crate::input::InputState;
+use raidillon_engine::InputState;
-use crate::resources::EngineResources;
+use raidillon_engine::EngineResources;
 use raidillon_core::scene::Scene;
+use raidillon_ecs::components::CameraMode;
 
 pub struct FPSDebugCameraSystem {
     mouse_delta: (f64, f64),
@@ -28,27 +29,17 @@ impl Default for FPSDebugCameraSystem {
             position: Vec3::new(0.0, 0.0, 2.0),
             yaw: -90.0,
             pitch: 0.0,
-            speed: 3.0,
+            speed: 8.0,
             sensitivity: 0.1,
         }
     }
 }
 
 impl System for FPSDebugCameraSystem {
-    fn load_world(&mut self, res: &mut EngineResources, scene: &mut Scene) {
-        let pctx = res.get::<PlatformContext>().unwrap();
-        scene.world.spawn((Camera {
-            eye:    Vec3::new(0.0, 0.0, 2.0),
-            center: Vec3::ZERO,
-            up:     Vec3::Y,
-            fovy:   60_f32.to_radians(),
-            aspect: pctx.frame_width / pctx.frame_height,
-            znear:  0.1,
-            zfar:   100.0,
-        },));
-    }
-
     fn handle_event(&mut self, res: &mut EngineResources, scene: &mut Scene) {
+        if !self.is_camera_mode_valid(scene) {
+            return
+        }
         let pctx = res.get::<PlatformContext>().unwrap();
         let event2 = pctx.current_event.clone();
         match event2 {
@@ -92,6 +83,9 @@ impl System for FPSDebugCameraSystem {
     }
 
     fn frame_update(&mut self, res: &mut EngineResources, scene: &mut Scene) {
+        if !self.is_camera_mode_valid(scene) {
+            return
+        }
         let (pctx, input) = res.get_many::<(PlatformContext, InputState)>().unwrap();
 
         if self.mouse_enabled {
@@ -134,4 +128,13 @@ impl FPSDebugCameraSystem {
             yaw_rad.sin() * pitch_rad.cos(),
         ).normalize()
     }
+
+    fn is_camera_mode_valid(&self, scene: &mut Scene) -> bool {
+        let mut q = scene.world.query::<(&Camera, &CameraMode)>();
+        let (cam_ent, (cam, cam_mode)) = q
+            .iter()
+            .next()
+            .unwrap();
+        *cam_mode == CameraMode::Debug
+    }
 }

game/src/systems/keybinds.rs

@@ -0,0 +1,57 @@
+use winit::keyboard::KeyCode;
+use raidillon_core::DebugUIBuffer;
+use raidillon_core::scene::Scene;
+use raidillon_ecs::components::CameraMode;
+use raidillon_engine::{EngineResources, InputState};
+use raidillon_engine::system::System;
+use raidillon_platform::{Camera, PlatformContext};
+
+#[derive(Default)]
+pub struct KeybindsSystem {
+    camera_toggle_held: bool,
+}
+
+impl System for KeybindsSystem {
+    fn fixed_update(&mut self, res: &mut EngineResources, scene: &mut Scene) {
+        let input = res.get::<InputState>().unwrap();
+        if input.key_held(KeyCode::F5) {
+            if self.camera_toggle_held { return }
+            self.toggle_camera_mode(scene);
+            self.camera_toggle_held = true;
+        } else {
+            self.camera_toggle_held = false;
+        }
+    }
+
+    fn frame_update(&mut self, res: &mut EngineResources, scene: &mut Scene) {
+        let dbg_ui = scene.resources.get_mut::<DebugUIBuffer>().unwrap();
+
+        dbg_ui.text("F5 to switch camera".to_owned());
+
+        let mut q = scene.world.query::<(&Camera, &CameraMode)>();
+        let (cam_ent, (cam, cam_mode)) = q
+            .iter()
+            .next()
+            .unwrap();
+        dbg_ui.text(format!("Camera Mode: {:?}", cam_mode));
+    }
+}
+
+impl KeybindsSystem {
+    fn toggle_camera_mode(&mut self, scene: &mut Scene) {
+        let q = scene.world.query_mut::<(&mut Camera, &mut CameraMode)>();
+        let (cam_ent, (cam, cam_mode)) = q
+            .into_iter()
+            .next()
+            .unwrap();
+
+        match *cam_mode {
+            CameraMode::Kinematic => {
+                *cam_mode = CameraMode::Debug;
+            }
+            CameraMode::Debug => {
+                *cam_mode = CameraMode::Kinematic;
+            }
+        }
+    }
+}

game/src/systems/kinematic_character_controller.rs

@@ -0,0 +1,195 @@
+use glam::{Quat, Vec3};
+use rapier3d::prelude::{nalgebra, ColliderBuilder, QueryFilter, RigidBodyBuilder};
+use rapier3d::prelude::vector;
+use raidillon_core::scene::Scene;
+use raidillon_engine::{EngineResources, InputState};
+use raidillon_engine::system::System;
+use rapier3d::control::KinematicCharacterController as RapierKinematicCharacterController;
+use rapier3d::na::{Isometry3, Vector3};
+use winit::event::DeviceEvent::MouseMotion;
+use winit::event::Event;
+use winit::keyboard::KeyCode;
+use raidillon_ecs::components::{CameraMode, CharacterBodyComponent};
+use raidillon_ecs::Transform;
+use raidillon_physics::Physics;
+use raidillon_platform::{Camera, PlatformContext};
+
+#[derive(Default)]
+pub struct KinematicCharacterController {
+    character_controller: RapierKinematicCharacterController,
+    character_collider: ColliderBuilder,
+
+    desired_movement: Vec3,
+    last_position: Vector3<f32>,
+    yaw:   f32,
+    pitch: f32,
+    speed: f32,
+    sensitivity: f32,
+    mouse_delta: (f64, f64),
+
+    vertical_velocity: f32,
+    gravity: f32,
+    max_fall_speed: f32,
+}
+
+impl System for KinematicCharacterController {
+    fn load_world(&mut self, res: &mut EngineResources, scene: &mut Scene) {
+        // create the rigid body, add it to the body set
+        let p = scene.resources.get_mut::<Physics>().expect("Physics missing");
+        let rb = RigidBodyBuilder::kinematic_position_based().build();
+        let rb_handle = p.rigid_body_set.insert(rb);
+        self.character_collider = ColliderBuilder::capsule_z(1.5, 1.0);
+        p.collider_set.insert_with_parent(self.character_collider.build(), rb_handle, &mut p.rigid_body_set);
+        let tr = Transform {
+            translation: Vec3::new(0.0, 2.0, 3.0),
+            rotation: Quat::IDENTITY,
+            scale: Vec3::new(1.0, 1.0, 1.0),
+        };
+        self.last_position = vector![
+            tr.translation.x,
+            tr.translation.y,
+            tr.translation.z,
+        ];
+        scene.world.spawn((
+            tr,
+            CharacterBodyComponent(rb_handle),
+        ));
+
+        self.speed = 5.0;
+        self.sensitivity = 0.1;
+        self.gravity = -9.81;
+        self.max_fall_speed = -50.0;
+        self.vertical_velocity = 0.0;
+    }
+
+    fn handle_event(&mut self, res: &mut EngineResources, scene: &mut Scene) {
+        if !self.is_camera_mode_valid(scene) {
+            return
+        }
+
+        let pctx = res.get::<PlatformContext>().unwrap();
+        let event2 = pctx.current_event.clone();
+        match event2 {
+            Event::DeviceEvent { device_id, event } => {
+                match event {
+                    MouseMotion { delta } => {
+                        self.mouse_delta.0 += delta.0;
+                        self.mouse_delta.1 += delta.1;
+                    },
+                    _ => {}
+                }
+            },
+            _ => {},
+        }
+    }
+
+    fn frame_update(&mut self, res: &mut EngineResources, scene: &mut Scene) {
+        if !self.is_camera_mode_valid(scene) {
+            return
+        }
+        let (pctx, input) = res.get_many::<(PlatformContext, InputState)>().unwrap();
+
+        self.yaw   += (self.mouse_delta.0 as f32) * self.sensitivity;
+        self.pitch -= (self.mouse_delta.1 as f32) * self.sensitivity;
+        self.pitch = self.pitch.clamp(-89.0, 89.0);
+
+        let front = self.front();
+        let right_vec = front.cross(Vec3::Y).normalize();
+
+        if input.key_held(KeyCode::KeyW) {
+            self.desired_movement += front * pctx.time_ctx.frame_dt * self.speed;
+        }
+        if input.key_held(KeyCode::KeyS) {
+            self.desired_movement -= front * pctx.time_ctx.frame_dt * self.speed;
+        }
+        if input.key_held(KeyCode::KeyA) {
+            self.desired_movement -= right_vec * pctx.time_ctx.frame_dt * self.speed;
+        }
+        if input.key_held(KeyCode::KeyD) {
+            self.desired_movement += right_vec * pctx.time_ctx.frame_dt * self.speed;
+        }
+
+        let pos = Physics::rapier_translation_to_glam(&self.last_position);
+
+        scene.world.query_mut::<&mut Camera>().into_iter().for_each(|(_, camera)| {
+            // INTERPOLATION NEEDED.
+            camera.eye = pos;
+            camera.center = pos + front;
+        });
+        self.mouse_delta = (0.0, 0.0);
+    }
+
+    fn fixed_update(&mut self, res: &mut EngineResources, scene: &mut Scene) {
+        if !self.is_camera_mode_valid(scene) {
+            return
+        }
+        let p = scene.resources.get_mut::<Physics>().unwrap();
+        let (pctx, input) = res.get_many::<(PlatformContext, InputState)>().unwrap();
+
+        let (ch_ent, (ch_tr, ch_component)) = scene
+            .world
+            .query_mut::<(&mut Transform, &mut CharacterBodyComponent)>()
+            .into_iter()
+            .next()
+            .expect("no character entity in world");
+
+        let query_pipeline = p.broad_phase.as_query_pipeline(
+            p.narrow_phase.query_dispatcher(),
+            &p.rigid_body_set,
+            &p.collider_set,
+            QueryFilter::default().exclude_rigid_body(ch_component.0),
+        );
+
+        self.vertical_velocity = (self.vertical_velocity + self.gravity * pctx.time_ctx.fixed_dt)
+            .max(self.max_fall_speed);
+        let mut total_displacement = self.desired_movement;
+        total_displacement.y += self.vertical_velocity * pctx.time_ctx.fixed_dt;
+
+        let corrected_movement = self.character_controller.move_shape(
+            pctx.time_ctx.fixed_dt,
+            &query_pipeline,
+            &*self.character_collider.shape,
+            &Isometry3::from(self.last_position),
+            vector![total_displacement.x, total_displacement.y, total_displacement.z],
+            |_| {},
+        );
+
+        // update character rigid body with the new translation.
+        if let Some(body) = p.get_rigid_body_mut(ch_component.0) {
+            self.last_position = vector![
+                self.last_position.x + corrected_movement.translation.x,
+                self.last_position.y + corrected_movement.translation.y,
+                self.last_position.z + corrected_movement.translation.z,
+            ];
+            body.set_next_kinematic_position(Isometry3::from(self.last_position));
+            ch_tr.translation = Physics::rapier_translation_to_glam(&self.last_position);
+            // reset vertical velocity if grounded
+            if corrected_movement.grounded {
+                self.vertical_velocity = 0.0;
+            }
+        }
+
+        self.desired_movement = Vec3::ZERO;
+    }
+}
+
+impl KinematicCharacterController {
+    pub fn front(&self) -> Vec3 {
+        let yaw_rad   = self.yaw.to_radians();
+        let pitch_rad = self.pitch.to_radians();
+        Vec3::new(
+            yaw_rad.cos() * pitch_rad.cos(),
+            pitch_rad.sin(),
+            yaw_rad.sin() * pitch_rad.cos(),
+        ).normalize()
+    }
+
+    fn is_camera_mode_valid(&self, scene: &mut Scene) -> bool {
+        let mut q = scene.world.query::<(&Camera, &CameraMode)>();
+        let (cam_ent, (cam, cam_mode)) = q
+            .iter()
+            .next()
+            .unwrap();
+        *cam_mode == CameraMode::Kinematic
+    }
+}

game/src/systems/mod.rs

@@ -0,0 +1,8 @@
+mod physics;
+mod kinematic_character_controller;
+mod keybinds;
+pub mod debug_camera;
+
+pub use physics::PhysicsSystem;
+pub use kinematic_character_controller::KinematicCharacterController;
+pub use keybinds::KeybindsSystem;

game/src/systems/physics.rs

@@ -0,0 +1,36 @@
+use raidillon_core::scene::Scene;
+use raidillon_ecs::components::RigidBodyComponent;
+use raidillon_ecs::Transform;
+use raidillon_engine::EngineResources;
+use raidillon_engine::system::System;
+use raidillon_physics::Physics;
+use raidillon_platform::PlatformContext;
+
+/// Do physics calculations and apply to world.
+#[derive(Default)]
+pub struct PhysicsSystem;
+
+impl System for PhysicsSystem {
+    fn load_world(&mut self, res: &mut EngineResources, scene: &mut Scene) {
+        let p = Physics::default();
+        scene.resources.insert(p);
+    }
+
+    fn fixed_update(&mut self, res: &mut EngineResources, scene: &mut Scene) {
+        let pctx = res.get::<PlatformContext>().expect("PlatformContext missing").clone();
+        let physics = scene.resources.get_mut::<Physics>().expect("Physics missing");
+        physics.step(pctx.time_ctx.fixed_dt);
+
+        // apply calculations to dynamic bodies
+        let mut query = scene.world.query::<(&mut Transform, &RigidBodyComponent)>();
+        for (_ent, (tr, rb_component)) in query.iter() {
+            if let Some(body) = physics.get_rigid_body(rb_component.0) {
+                let pos = body.position();
+                let translation = Physics::rapier_translation_to_glam(&pos.translation.vector);
+                let rotation = Physics::rapier_rotation_to_glam(&pos.rotation);
+                tr.translation = translation;
+                tr.rotation = rotation;
+            }
+        }
+    }
+}

physics/Cargo.toml

@@ -0,0 +1,9 @@
+[package]
+name = "raidillon_physics"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+rapier3d = "0.30.1"
+raidillon_ecs = { path = "../ecs" }
+glam = "0.30.8"

physics/src/lib.rs

@@ -0,0 +1,3 @@
+mod physics;
+
+pub use crate::physics::Physics;

physics/src/physics.rs

@@ -0,0 +1,82 @@
+use glam::{Quat, Vec3};
+use rapier3d::na::{Quaternion, UnitQuaternion};
+use rapier3d::prelude::*;
+use raidillon_ecs::Transform;
+
+/// Tiny wrapper around rapier3d.
+pub struct Physics {
+    pub rigid_body_set: RigidBodySet,
+    pub collider_set: ColliderSet,
+    physics_pipeline: PhysicsPipeline,
+    island_manager: IslandManager,
+    pub broad_phase: DefaultBroadPhase,
+    pub narrow_phase: NarrowPhase,
+    impulse_joint_set: ImpulseJointSet,
+    multibody_joint_set: MultibodyJointSet,
+    ccd_solver: CCDSolver,
+    gravity: Vector<f32>,
+    integration_parameters: IntegrationParameters,
+}
+
+impl Default for Physics {
+    fn default() -> Self {
+        Self {
+            gravity: vector![0.0, -9.81, 0.0],
+            rigid_body_set: Default::default(),
+            collider_set: Default::default(),
+            physics_pipeline: Default::default(),
+            island_manager: Default::default(),
+            broad_phase: Default::default(),
+            narrow_phase: Default::default(),
+            impulse_joint_set: Default::default(),
+            multibody_joint_set: Default::default(),
+            ccd_solver: Default::default(),
+            integration_parameters: Default::default(),
+        }
+    }
+}
+
+impl Physics {
+    pub fn step(&mut self, dt: f32) {
+        self.integration_parameters.dt = dt;
+        self.physics_pipeline.step(
+            &self.gravity,
+            &self.integration_parameters,
+            &mut self.island_manager,
+            &mut self.broad_phase,
+            &mut self.narrow_phase,
+            &mut self.rigid_body_set,
+            &mut self.collider_set,
+            &mut self.impulse_joint_set,
+            &mut self.multibody_joint_set,
+            &mut self.ccd_solver,
+            &(),
+            &(),
+        );
+    }
+
+    pub fn add_rigid_body(&mut self, kind: RigidBodyType, transform: Transform, collider: Collider) -> RigidBodyHandle {
+        let rb = RigidBodyBuilder::new(kind)
+            .translation(vector![transform.translation.x, transform.translation.y, transform.translation.z])
+            .build();
+        let rb_handle = self.rigid_body_set.insert(rb);
+        self.collider_set.insert_with_parent(collider, rb_handle, &mut self.rigid_body_set);
+        rb_handle
+    }
+
+    pub fn get_rigid_body(&self, handle: RigidBodyHandle) -> Option<&RigidBody> {
+        self.rigid_body_set.get(handle)
+    }
+
+    pub fn get_rigid_body_mut(&mut self, handle: RigidBodyHandle) -> Option<&mut RigidBody> {
+        self.rigid_body_set.get_mut(handle)
+    }
+
+    pub fn rapier_translation_to_glam(v: &Vector<f32>) -> Vec3 {
+        Vec3::new(v.x, v.y, v.z)
+    }
+
+    pub fn rapier_rotation_to_glam(r: &UnitQuaternion<f32>) -> Quat {
+        Quat::from_xyzw(r.i, r.j, r.k, r.w)
+    }
+}