csgrs

Constructive Solid Geometry (CSG) is a modeling technique that uses Boolean operations like union and intersection to combine 3D solids. This library implements CSG operations on meshes simply using BSP trees. It is meant to add CSG to the larger Dimforge ecosystem, bring the OpenSCAD feature set into Rust, work in a wide variety of environments, and be reasonably performant.

Use the library:

use csgrs::CSG;

Construct a 2D shape:

let square = CSG::square(None);
let square2 = CSG::square(Some(([2.0, 3.0], true)));
let circle = CSG::circle(None);
let circle2 = CSG::circle(Some((2.0, 64)));

let points = vec![[0.0, 0.0], [2.0, 0.0], [1.0, 1.5]];
let polygon2d = CSG::polygon_2d(&points);

Construct a 3D shape:

let cube = CSG::cube(None);
let cube2 = CSG::cube(Some([0.0, 0.0, 0.0], [1.0, 1.0, 1.0])); // center, radius
let sphere = CSG::sphere(None);
let sphere2 = CSG::sphere(Some([0.0, 0.0, 0.0], 1.0, 16, 8)); // center, radius, slices, stacks
let cylinder = CSG::cylinder(None);
let cylinder2 = CSG::cylinder(Some([0.0, -1.0, 0.0], [0.0, 1.0, 0.0], 1.0, 16)); // start, end, radius, slices

// A simple triangular prism
let points = [
    [0.0, 0.0, 0.0], // 0
    [1.0, 0.0, 0.0], // 1
    [0.0, 1.0, 0.0], // 2
    [0.0, 0.0, 1.0], // 3
    [1.0, 0.0, 1.0], // 4
    [0.0, 1.0, 1.0], // 5
];
// Faces: bottom triangle, top triangle, and 3 rectangular sides
let faces = vec![
    vec![0, 1, 2],    // bottom
    vec![3, 5, 4],    // top
    vec![0, 2, 5, 3], // side
    vec![0, 3, 4, 1], // side
    vec![1, 4, 5, 2], // side
];
let prism = CSG::polyhedron(&points, &faces);

Combine shapes:

let union_result = cube.union(&sphere);
let subtraction_result = cube.subtract(&sphere);
let intersection_result = cylinder.intersect(&sphere);

Extract polygons:

let polygons = union_result.to_polygons();
println!("Polygon count = {}", polygons.len());

Translate:

let translation_result = cube.translate(Vector3::new(3.0, 2.0, 1.0));

Rotate:

let rotation_result = cube.rotate(15.0, 45.0, 0.0);

Scale:

let scale_result = cube.scale(2.0, 1.0, 3.0);

Mirror:

let mirror_result = cube.mirror(Axis::Y);

Convex hull:

let hull = cube.convex_hull();

Minkowski sum:

let rounded_cube = cube.minkowski_sum(&sphere);

Extrude a 2D shape:

let square = CSG::square(Some(([2.0, 2.0], true)));
let prism = square.extrude(5.0);

Rotate extrude:

let polygon = CSG::polygon_2d(&[
    [1.0, 0.0],
    [1.0, 2.0],
    [0.5, 2.5],
]);
let revolve_shape = polygon.rotate_extrude(360.0, 16); // degrees, steps

Transform:

// Scale X, Shear X along Y, Shear X along Z, Translate X
// Shear Y along X, Scale Y, Shear Y along Z, Translate Y
// Shear Z along X, Shear Z along Y, Scale Z, Translate Z
// The last row are clamped to 0,0,0,1 in OpenSCAD

cube.transform(Matrix4x4::new(11, 12, 13, 14,
                              21, 22, 23, 24,
                              21, 22, 23, 24,
                              0, 0, 0, 1));

Bounding box:

let aabb = cube.bounding_box();
println!("Axis-aligned bounding box mins: {:?}", aabb.mins);
println!("Axis-aligned bounding box maxs: {:?}", aabb.maxs);

Grow / Shrink a 3D shape:

let grown_cube = cube.grow(4.0);
let shrunk_cube = cube.shrink(4.0);

Grow / Shrink a 2D shape:

let grown_square = square.grow_2d(4.0);
let shrunk_square = square.shrink_2d(4.0);

Text:

let font_data = include_bytes!("my_font.ttf");

// Generate a simple "Hello" text in the XY plane
let csg_text = CSG::text_mesh("Hello", font_data, Some(10.0));

Subdivide triangles:

let subdivisions = 2;
let subdivided_csg = my_csg.subdivide_triangles(subdivisions);

Renormalize:

let renormalized_csg = my_csg.renormalize();

Compute all ray intersections for measurement (expensive):

let cube = CSG::cube(None);
let ray_origin = nalgebra::Point3::new(-5.0, 0.0, 0.0);
let ray_dir    = nalgebra::Vector3::new(1.0, 0.0, 0.0);

let intersections = cube.ray_intersections(&ray_origin, &ray_dir);
println!("Found {} intersections:", intersections.len());
for (point, dist) in intersections {
    println!("  t = {:.4}, point = {:?}", dist, point); // distance to 4 decimal places
}

Create a Parry TriMesh:

let trimesh = my_csg.to_trimesh();

Create a Rapier rigid body:

// 90 degrees in radians
let angle = std::f64::consts::FRAC_PI_2;
// Axis-angle: direction = Z, magnitude = angle
let axis_angle = Vector3::z() * angle;

let rigid_body = my_csg.to_rigid_body(
    &mut rigid_body_set,
    &mut collider_set,
    Vector3::new(0.0, 0.0, 0.0), // translation
    axis_angle,                  // 90° around Z
    1.0,                         // density
);

Collect mass properties of a shape:

let density = 1.0;
let (mass, center_of_mass, inertia_frame) = my_csg.mass_properties(density);

Export an ASCII STL:

let stl_data = union_result.to_stl("cube_minus_sphere");
let filename = "output.stl";
let mut file = File::create(filename).expect("Failed to create file");
file.write_all(stl_data.as_bytes()).expect("Failed to write STL");

Export a binary STL:

my_csg.to_stl_file("output.stl").unwrap();

Import an STL:

let csg = CSG::from_stl_file("input.stl").unwrap();

Implementation Details

All CSG operations are implemented in terms of two functions, clip_to() and invert(), which remove parts of a BSP tree inside another BSP tree and swap solid and empty space, respectively. To find the union of a and b, we want to remove everything in a inside b and everything in b inside a, then combine polygons from a and b into one solid:

a.clip_to(&b);
b.clip_to(&a);
a.build(&b.all_polygons());

The only tricky part is handling overlapping coplanar polygons in both trees. The code above keeps both copies, but we need to keep them in one tree and remove them in the other tree. To remove them from b we can clip the inverse of b against a. The code for union now looks like this:

a.clip_to(&b);
b.clip_to(&a);
b.invert();
b.clip_to(&a);
b.invert();
a.build(&b.all_polygons());

Subtraction and intersection naturally follow from set operations. If union is A | B, subtraction is A - B = ~(~A | B) and intersection is A & B = ~(~A | ~B) where ~ is the complement operator.

Todo

• set/get shared data per polygon, ensure preserved through operations
• extrusions across arbitrary vector
• extrusions between two polygons
• debug revolve extrude - use vector extrusions
• Projection to 2D / Cut
• dxf/svg import/export
• color
• fragments (circle, sphere, regularize with rotate_extrude)
• polygon holes
• fill
• 32bit / 64bit feature
• parallelize clip_to and invert with rayon and par_iter
• identify more candidates for par_iter
• manifoldness tests / fixes - in stl_io library
• reimplement 2D offsetting with cavalier_contours
• reimplement 3D offsetting with voxelcsgrs or https://docs.rs/parry3d/latest/parry3d/transformation/vhacd/struct.VHACD.html
• reimplement convex hull with https://docs.rs/parry3d-f64/latest/parry3d_f64/transformation/fn.convex_hull.html
• implement 2d/3d convex decomposition with https://docs.rs/parry3d-f64/latest/parry3d_f64/transformation/vhacd/struct.VHACD.html
• reimplement transformations and shapes with https://docs.rs/parry3d/latest/parry3d/transformation/utils/index.html
• adjust binary STL function to output data, not file
• identify opportunities to use parry2d_f64 and parry3d_f64 modules and functions to simplify and enhance our own
• https://docs.rs/parry2d-f64/latest/parry2d_f64/index.html
• https://docs.rs/parry3d-f64/latest/parry3d_f64/index.html

License

Copyright (c) 2025 Timothy Schmidt, initially based on a translation of CSG.js Copyright (c) 2011 Evan Wallace, under the MIT license.