| Nrapier | Optional C++ ownership helpers |
| CDeleter | Deleter for an owned pointer; Free must succeed at destruction time |
| CR3Aabb | Axis-aligned bounding box |
| CR3BuildFeatures | Features available through the loaded C library, independent of consumer defines |
| CR3BuildInfo | Runtime ABI identity and fundamental type sizes |
| CR3ByteView | Borrowed bytes |
| CR3CharacterAutostep | Copy of the automatic stepping settings |
| CR3CharacterCollision | Collision recorded during character movement |
| CR3CharacterControllerSettings | Copy of character sliding, slope, and snapping settings |
| CR3CharacterLength | CharacterLength counterpart: relative=1 scales with character height, relative=0 uses world units |
| CR3CharacterMovement | Allowed character motion and ground-contact state |
| CR3ColliderDesc | Copyable collider construction data |
| CR3ColliderHandle | Copyable non-owning handle: world pointer plus entity index and generation |
| CR3CollisionEvent | Collision start/stop flags match Rapier CollisionEventFlags |
| CR3CompoundShapeDesc | One compound child with a local pose and borrowed geometry description |
| CR3CompoundShapeView | Borrowed elements; count counts elements |
| CR3ContactForceEvent | Contact-force event, enabled by flags and the collider force threshold |
| CR3ContactManifold | Geometric contact manifold of a contact pair: contacts sharing one normal |
| CR3ContactModification | Mutable per-manifold properties |
| CR3ContactPair | Current narrow-phase pair and accumulated solver impulse summary |
| CR3ContactPoint | One manifold contact and its normal solver impulse |
| CR3DebugLine | World-space line segment produced by physics debug rendering |
| CR3DebugRenderStyle | Debug-render colors and sizes |
| CR3Dihedral | Vertex indices for one dihedral; contiguous u32 fields with no padding |
| CR3DihedralView | Borrowed array of dihedral elements |
| CR3Edge | Vertex indices for one edge; contiguous u32 fields with no padding |
| CR3EdgeView | Borrowed array of edge elements |
| CR3ErrorHandler | An optional thread-local error handler |
| CR3EventCallbacks | Callbacks invoked while stepping, in addition to collecting the events |
| CR3ImpulseJointHandle | Copyable non-owning handle: world pointer plus entity index and generation |
| CR3IndexView | Borrowed array of index elements |
| CR3IntegrationParameters | Plain configuration data; initialize defaults, edit, then apply |
| CR3InteractionGroups | Collision membership/filter masks and their pairwise combination rule |
| CR3IntersectionPair | Sensor intersection state for a collider pair |
| CR3InverseKinematicsOptions | Damped least-squares inverse-kinematics parameters |
| CR3JointBodies | World-bound handles of the two connected bodies |
| CR3JointDesc | Copyable joint configuration |
| CR3JointImpulses | Impulses applied by an impulse joint during the last step, along the axes of its joint frame |
| CR3JointLimits | Lower and upper axis limits in length units or radians |
| CR3JointMotor | Position/velocity motor settings for one joint axis |
| CR3MassProperties | Explicit mass and principal inertia, matching MassProperties constructors |
| CR3MjcfLoaderOptions | Loader configuration |
| CR3MjcfVisualMeshInfo | Copied metadata for a borrowed MJCF visual mesh |
| CR3MultibodyJointHandle | Copyable non-owning handle: world pointer plus entity index and generation |
| CR3NonlinearRigidMotion | Rigid motion with constant linear and angular velocities |
| CR3OptionalBool | Optional boolean override |
| CR3OptionalContactPair | Optional contact pair; check found before reading the pair |
| CR3OptionalIntersectionPair | Optional intersection pair; check found before reading the pair |
| CR3OptionalParticleDestination | Optional particle remapping; check found before reading the destination |
| CR3OptionalPointProjection | Optional point projection |
| CR3OptionalRayHit | Optional full ray result |
| CR3OptionalReal | Optional scalar override; enabled = 0 selects no override |
| CR3OptionalShapeCastHit | Optional shape-cast result |
| CR3OptionalU32 | Optional unsigned integer override; enabled = 0 selects no override |
| CR3ParticleDestination | Particle remapping after tearing |
| CR3PdController | Stateless proportional-derivative controller: a PID controller without integral term, stored as a plain value |
| CR3PhysicsHooks | Callbacks must not unwind or retain arguments |
| CR3PidGains | Per-axis proportional, integral, and derivative controller gains |
| CR3PodLayout | Sizes of the POD types in this library build, for foreign-language layout checks |
| CR3PointProjection | Closest projected world-space point and its collider |
| CR3Pose | Rigid transform combining translation and rotation |
| CR3QueryFilter | Scene-query flags, groups, and excluded handles |
| CR3QueryOptions | Copyable query settings |
| CR3RayHit | Closest ray intersection, with a world-space normal |
| CR3RayToi | Optional ray collider/time result |
| CR3RealView | Borrowed array of real elements |
| CR3RenderMaterial | Imported physically based visual material; no texture ownership |
| CR3RigidBodyDesc | Stack-allocated rigid-body construction data |
| CR3RigidBodyHandle | Copyable non-owning handle: world pointer plus entity index and generation |
| CR3RigidBodyState | A copied state snapshot, with no pointers or ownership obligations |
| CR3Rotation | 2D: angle in radians |
| CR3ShapeCastHit | Shape-cast impact geometry; collider-side data is world-space, moving-shape data is local |
| CR3ShapeCastOptions | Sweep termination settings |
| CR3ShapeDesc | Non-owning shape description |
| CR3SoftBodiesSettings | Plain configuration data; initialize defaults, edit, then apply |
| CR3SoftBodyDesc | Copyable recipe, not an owned procedural builder |
| CR3SoftBodyDescView | Borrowed array of soft-body descriptions |
| CR3SoftBodyHandle | Copyable non-owning handle: world pointer plus entity index and generation |
| CR3SoftBodyMaterial | Plain configuration data; initialize defaults, edit, then apply |
| CR3SoftClusterSplit | Cluster and proxy remapping after a soft-body split |
| CR3SoftEdgeSoftness | Spring-coefficient override for one soft-body edge |
| CR3SoftEdgeSoftnessView | Borrowed elements; count counts elements |
| CR3SoftEdgeTear | Tear-resistance override for one soft-body edge |
| CR3SoftEdgeTearView | Borrowed elements; count counts elements |
| CR3SoftFemParameters | Plain configuration data; initialize defaults, edit, then apply |
| CR3SoftJointMove | Impulse-joint movement between rigid proxies after tearing |
| CR3SoftMeshBindingDesc | Non-owning deformable binding description |
| CR3SoftMeshId | Stable identity of a live mesh within one soft body; matches Rapier's SoftMeshId |
| CR3SoftMeshInfo | Mesh identity and rendering metadata |
| CR3SoftRecoverySettings | Plain configuration data; initialize defaults, edit, then apply |
| CR3SolverContact | Contact seen by the constraint solver |
| CR3SpringCoefficients | Spring softness expressed as natural frequency and damping ratio |
| CR3Tetrahedron | Vertex indices for one tetrahedron; contiguous u32 fields with no padding |
| CR3TetrahedronView | Borrowed array of tetrahedron elements |
| CR3Triangle | Vertex indices for one triangle; contiguous u32 fields with no padding |
| CR3TriangleView | Borrowed array of triangle elements |
| CR3UrdfLoaderOptions | Loader configuration |
| CR3UserData | Application-defined 128-bit value |
| CR3Vector | Cartesian vector with two or three components |
| CR3VectorView | Borrowed array of vector elements |
| CR3VelocityCorrection | Linear and angular velocity correction computed by a controller |
| CR3VolumeMeshParameters | Parameters for the native volumetric mesher |
| CR3VoxelKey | Integer coordinates of a voxel cell |
| CR3VoxelQuery | Optional voxel lookup result; check found before reading voxel data |
| CR3WheelState | Copy of the current wheel pose, suspension, and contact state |
| CR3WheelTuning | Wheel suspension/friction parameters |
1.18.0