Topics

Here is a list of all topics with brief descriptions:

ABI and errors	Build identity, layout checks, status codes, and thread-local diagnostics
Worlds and stepping	Create a world, configure integration, step, and serialize it
Math and array types	Plain values and inline arithmetic
Inline math
Rigid bodies	Descriptions and live, world-bound handles
Colliders	Collider descriptions, material properties, sensor flags, and filtering
Shapes and mesh data	Shared immutable geometry and copied rendering data
Joints	Impulse joints and reduced-coordinate articulations
Scene queries	Queries read the broad phase from the latest Step or DetectCollisions
Callback read access	Read* functions resolve handles through the callback context
Events, contacts, and debug drawing	Event collectors own their recorded events
Soft bodies	Particle recipes, materials, clusters, deformable meshes, and tearing
Character, vehicle, and PID controllers	Controllers compute motion/corrections or apply forces; they do not replace Step
URDF and MJCF import	Available only with RAPIER_ROBOTICS in 3D/f32
C++ ownership helpers	rapier.hpp supplies unique_ptr-based Owner aliases and small value factories