Rust 3d collision detection using glam
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This library provides 3d collision detection primitives, bounding volumes and collision detection algorithms using glam.

If you need 2d collision detection check out bam2d


The library provides:

  • a generic ray: Ray
  • a plane type: Plane
  • a view frustum: Frustum
  • axis-aligned bounding boxes: Aabb3
  • oriented bounding boxes: Obb3
  • additional bounding volumes: Sphere, Cylinder
  • collision primitives: Sphere, Circle, Rectangle, Cuboid, Particle, Convex Polygon, Convex Polyhedra
  • a dynamic bounding volume tree (DBVT)
  • broad phase collision detection: Sweep and Prune
  • discrete narrow phase collision detection: GJK (including EPA for manifold computation)
  • continuous narrow phase collision detection: GJK
  • convex shape distance computation: GJK


Right now the docs are probably are all there is. I'll hopefully be able to add some examples soontm.


This started as a port of the excellent cgmath based collision library. If you or your dependency tree already use cgmath then it could be an excellent option.

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