A no_std 3D graphics and physics engine for embedded systems: software rasterization, rigid/soft-body physics, skeletal animation, and effects tuned for MCUs.
Fork of embedded-gfx by Kezii, extended with textures, fog/dithering, DMA swapchains, AA, physics, BSP, and more.
- Record / execute — traverse once, rasterize from a fixed-capacity command buffer (optional tiled / textured execute)
- Rendering — MVP + frustum/backface cull, Z-buffer, flat/Gouraud/Blinn-Phong, perspective-correct textures, fog, point lights, particles, LOD, HUD
- Physics (feature
physics) — rigid bodies, joints, soft body, raycast with UV - Animation — skeletal LBS, vertex morphs, transform tracks / tweens
- Embedded-friendly —
heaplesscaps, async-agnostic swapchain present, optional DMA2D / Embassy hooks
 Blinn-Phong |
 Rigid body physics |
 Particles + fog |
 Soft-body cloth |
cargo run --example screenshots --features std[dependencies]
# Embedded (no_std)
embedded-3dgfx = { version = "0.4", default-features = false }
# With physics
embedded-3dgfx = { version = "0.4", features = ["physics"] }
# Desktop / simulator
embedded-3dgfx = { version = "0.4", features = ["std", "physics"] }use embedded_3dgfx::{K3dengine, mesh::{Geometry, K3dMesh, RenderMode}};
use nalgebra::Vector3;
let mut engine = K3dengine::new(320, 240);
engine.camera.set_position(Vector3::new(0.0, 0.0, 5.0).into());
let geometry = Geometry { vertices: &CUBE_VERTS, faces: &CUBE_FACES, /* ... */ };
let mut mesh = K3dMesh::new(geometry);
mesh.set_render_mode(RenderMode::Lines);
let mut commands = embedded_3dgfx::command_buffer::CommandBuffer::<512>::new();
engine.record(core::iter::once(&mesh), &mut commands, None).unwrap();
engine.execute(&mut display, &mut frame_ctx, &commands, None).unwrap();More patterns (particles, lights, fog, physics, skeleton, soft body, async present) live under examples/ and on docs.rs.
| Flag | Default | Description |
|---|---|---|
std |
on | Painter's algorithm helpers, perfcounter |
physics |
off | Rigid body, soft body, physics raycast |
aa-heuristic / aa-coverage |
on | Triangle edge AA (coverage needs a W×H buffer) |
row_width_* |
240 |
Row-buffer width (96 / 160 / 240 / 320, mutually exclusive) |
dsp / fixed-transform / fixed-raster |
off | Shared Q16.16 / quat path via embedded-dsp |
triple-buffering / embassy / dma2d |
off | Swapchain / Embassy / DMA2D hooks |
perfcounter / dwt-profiler / rtt-trace / itm-trace |
off | Timing / trace sinks |
| Feature | What you get |
|---|---|
aabb-cull |
Cached AABB, two-stage frustum cull, raycast broadphase |
render-layers |
Camera ↔ mesh layer bitmasks |
record-sort |
Priority / distance sort in record |
lod-crossfade |
LOD fade margins |
anim-blend |
Clip blending, bone slerp, skinned AABBs |
gizmos |
AABB / frustum debug wireframes |
visibility-extras |
aabb-cull + render-layers + record-sort + lod-crossfade |
scene-extras |
All of the above |
embedded-3dgfx = { version = "0.4", features = ["std", "scene-extras"] }cargo test --test scene_extras --features "std,scene-extras"cargo run --example <name> --features std
# physics demos also need: --features "std,physics"Rendering: basic_rendering, rotating_cube, scene_viewer, lighting_demo, gouraud_demo, blinn_phong_demo, fog_dithering_demo, texture_mapping_demo, mesh_texture_demo, retro_presets_demo, bsp_builder_demo, dma_rendering_demo, billboard_demo, lod_demo, vertex_animation_demo, painters_algorithm_demo, boot_menu, stl_viewer, …
Physics: physics_rolling_ball, physics_bouncing_balls, physics_pendulum, physics_newtons_cradle, physics_stack_tower, cloth_simulation, jelly_cube_demo, raycast_demo, skeletal_animation_demo, …
| Doc | Topic |
|---|---|
docs/caps-and-telemetry.md |
Caps, telemetry, CI budgets |
docs/backend-integration.md |
Board bring-up, memory sizing |
docs/asset-pipeline.md |
Offline assets / scene streaming |
Typical target: Cortex-M4F/M33 with FPU; ~128 KB RAM minimum, ~512 KB+ recommended for double-buffer + Z + physics at 240×135.
cargo test --lib
cargo test --lib --features dma2d,depth-u16
cargo test --test scene_extras --features "std,scene-extras"Git hooks (fmt on commit / push): ./scripts/install-git-hooks.sh
PRs welcome — especially board backends, broad-phase spatial structures, and extra joint / collider types.
Dual-licensed under MIT OR Apache-2.0. See LICENSE-MIT, LICENSE-APACHE, and NOTICE.