Rapier C API

Version 0.36.0+c.0. Choose the dimension and precision of your linked library.

Dimension32-bit floats64-bit floats
2Dr2 / f32r2 / f64
3Dr3 / f32r3 / f64

References include parallel and FEM APIs. Robotics is available only in 3D/f32. Your build must enable each optional feature before you use it.