culverin 0.3.0b1

High-performance Jolt Physics bindings for Python featuring Shadow Buffers and Free-Threading support.

Culverin Physics

Culverin is a Python wrapper for the Jolt Physics engine. It is designed for 3D games and simulations that require high performance and multi-threaded execution.

Key Concepts

• Free-Threading Support: Designed for Python 3.13t and 3.14t. The engine releases the Global Interpreter Lock (GIL) during physics updates and raycast batches.
• Shadow Buffers: All body positions, rotations, and velocities are stored in contiguous C-arrays. You can access this data via memoryview or numpy without the overhead of creating Python objects for every body.
• Thread-Safe API: The engine uses a priority-based locking system. Simulation steps, state mutations, and queries can run on different threads without causing deadlocks or memory corruption.
• Generational Handles: Bodies are referenced by 64-bit handles rather than pointers. This ensures that using a handle for a deleted object will not crash the program.
• Double-Precision Internal: Uses double-precision floats for world positions to prevent physics jitter in large environments, while mirroring data to float32 buffers for rendering efficiency.

Features

• Standard Primitives: Box, Sphere, Capsule, Cylinder, and Plane shapes.
• Complex Shapes: Support for Convex Hulls, Heightfields (Terrain), and static Meshes.
• Compound Bodies: Create single bodies composed of multiple child shapes.
• Character Controller: A virtual character controller with built-in support for climbing stairs, sliding down slopes, and pushing objects.
• Vehicles: Support for wheeled vehicles and tracked vehicles (tanks) with physical treads and skid-steering.
• Constraints: Fixed, Point, Hinge, Slider, Distance, and Cone constraints.
• Queries: Efficient single and batch Raycasting, Shapecasting (sweeps), and Overlap queries.
• Collision Events: Native event buffer for contact added, persisted, and removed events.

Installation

Building from source requires CMake and a C++ compiler (Visual Studio on Windows, GCC or Clang on Linux/macOS).

# Clone the repository including submodules
git clone --recursive https://github.com/Evilpasture/culverin.git
cd culverin

# Install the package
pip install .

If you want Python 3.14t:

# Please install build module
pip install build

# Then build your wheel. Keyword: python3.14t, and have your 3.14t interpreter activated or available in PATH. usually the Python installer manages it for you.
python3.14t -m build --wheel

# then install via the wheel. please use your actual file name.
pip install culverin-*-win_amd64.whl

Quick Start

import culverin
import numpy as np

# Initialize the world with 500 bodies capacity
world = culverin.PhysicsWorld(settings={"gravity": (0, -9.81, 0), "max_bodies": 1000})

# Create a ground plane
world.create_body(pos=(0, 0, 0), shape=culverin.SHAPE_PLANE, motion=culverin.MOTION_STATIC)

# Create a dynamic box
handle = world.create_body(pos=(0, 10, 0), size=(1, 1, 1), shape=culverin.SHAPE_BOX, motion=culverin.MOTION_DYNAMIC)

# Simulation loop
for _ in range(1000):
    world.step(1/60)
    
    # Access position directly from the shadow buffer
    idx = world.get_index(handle)
    pos = world.positions[idx * 4 : idx * 4 + 3]
    print(f"Box Height: {pos[1]}")

Technical Specifications

Spec	Standard
Units	Metric (1.0 = 1 meter)
Coordinate System	Right-Handed (Y-Up)
Angle Units	Radians
Quaternion Format	(x, y, z, w)
Internal Precision	Float64 (Double)
Buffer Precision	Float32
Minimum Python	3.11 (3.13+ recommended for multi-threading)

Performance Note

For maximum performance when reading state, use the world.positions and world.rotations attributes. These return memoryview objects that point directly to the engine's internal memory. Use numpy.frombuffer(world.positions, dtype=np.float32) to wrap them in a NumPy array without copying the data.