diff --git a/Difficult_Rocket/__init__.py b/Difficult_Rocket/__init__.py
index 05ff274..5a08208 100644
--- a/Difficult_Rocket/__init__.py
+++ b/Difficult_Rocket/__init__.py
@@ -24,7 +24,7 @@ from libs.MCDR.version import Version
 
 game_version = Version("0.7.0.2")  # 游戏版本
 build_version = Version("1.1.0.0")  # 编译文件版本(与游戏本体无关)
-DR_rust_version = Version("0.1.10.0")  # DR 的 Rust 编写部分的版本
+DR_rust_version = Version("0.2.0.0")  # DR 的 Rust 编写部分的版本
 __version__ = game_version
 
 long_version: int = 12
diff --git a/libs/Difficult_Rocket_rs/src/Cargo.lock b/libs/Difficult_Rocket_rs/src/Cargo.lock
index 52f23c1..af4b105 100644
--- a/libs/Difficult_Rocket_rs/src/Cargo.lock
+++ b/libs/Difficult_Rocket_rs/src/Cargo.lock
@@ -2,31 +2,138 @@
 # It is not intended for manual editing.
 version = 3
 
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "arrayvec"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8da52d66c7071e2e3fa2a1e5c6d088fec47b593032b254f5e980de8ea54454d6"
+
 [[package]]
 name = "autocfg"
 version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
 
+[[package]]
+name = "bit-vec"
+version = "0.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "349f9b6a179ed607305526ca489b34ad0a41aed5f7980fa90eb03160b69598fb"
+
 [[package]]
 name = "bitflags"
 version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
+[[package]]
+name = "bytemuck"
+version = "1.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c041d3eab048880cb0b86b256447da3f18859a163c3b8d8893f4e6368abe6393"
+
 [[package]]
 name = "cfg-if"
 version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
+[[package]]
+name = "crossbeam"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2801af0d36612ae591caa9568261fddce32ce6e08a7275ea334a06a4ad021a2c"
+dependencies = [
+ "cfg-if",
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-epoch",
+ "crossbeam-queue",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-channel"
+version = "0.5.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2dd04ddaf88237dc3b8d8f9a3c1004b506b54b3313403944054d23c0870c521"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "715e8152b692bba2d374b53d4875445368fdf21a94751410af607a5ac677d1fc"
+dependencies = [
+ "cfg-if",
+ "crossbeam-epoch",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-epoch"
+version = "0.9.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "01a9af1f4c2ef74bb8aa1f7e19706bc72d03598c8a570bb5de72243c7a9d9d5a"
+dependencies = [
+ "autocfg",
+ "cfg-if",
+ "crossbeam-utils",
+ "memoffset 0.7.1",
+ "scopeguard",
+]
+
+[[package]]
+name = "crossbeam-queue"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d1cfb3ea8a53f37c40dea2c7bedcbd88bdfae54f5e2175d6ecaff1c988353add"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-utils"
+version = "0.8.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4fb766fa798726286dbbb842f174001dab8abc7b627a1dd86e0b7222a95d929f"
+dependencies = [
+ "cfg-if",
+]
+
 [[package]]
 name = "difficult_rocket_rs"
-version = "0.1.10"
+version = "0.2.0"
 dependencies = [
  "pyo3",
+ "rapier2d",
 ]
 
+[[package]]
+name = "downcast-rs"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ea835d29036a4087793836fa931b08837ad5e957da9e23886b29586fb9b6650"
+
+[[package]]
+name = "either"
+version = "1.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7fcaabb2fef8c910e7f4c7ce9f67a1283a1715879a7c230ca9d6d1ae31f16d91"
+
 [[package]]
 name = "indoc"
 version = "1.0.9"
@@ -39,6 +146,12 @@ version = "0.2.139"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "201de327520df007757c1f0adce6e827fe8562fbc28bfd9c15571c66ca1f5f79"
 
+[[package]]
+name = "libm"
+version = "0.2.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "348108ab3fba42ec82ff6e9564fc4ca0247bdccdc68dd8af9764bbc79c3c8ffb"
+
 [[package]]
 name = "lock_api"
 version = "0.4.9"
@@ -49,6 +162,24 @@ dependencies = [
  "scopeguard",
 ]
 
+[[package]]
+name = "matrixmultiply"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "add85d4dd35074e6fedc608f8c8f513a3548619a9024b751949ef0e8e45a4d84"
+dependencies = [
+ "rawpointer",
+]
+
+[[package]]
+name = "memoffset"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5de893c32cde5f383baa4c04c5d6dbdd735cfd4a794b0debdb2bb1b421da5ff4"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "memoffset"
 version = "0.8.0"
@@ -58,12 +189,96 @@ dependencies = [
  "autocfg",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.32.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f6515c882ebfddccaa73ead7320ca28036c4bc84c9bcca3cc0cbba8efe89223a"
+dependencies = [
+ "approx",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d232c68884c0c99810a5a4d333ef7e47689cfd0edc85efc9e54e1e6bf5212766"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "num-complex"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "02e0d21255c828d6f128a1e41534206671e8c3ea0c62f32291e808dc82cff17d"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-derive"
+version = "0.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "876a53fff98e03a936a674b29568b0e605f06b29372c2489ff4de23f1949743d"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "num-integer"
+version = "0.1.45"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9"
+dependencies = [
+ "autocfg",
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0638a1c9d0a3c0914158145bc76cff373a75a627e6ecbfb71cbe6f453a5a19b0"
+dependencies = [
+ "autocfg",
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-traits"
+version = "0.2.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
+dependencies = [
+ "autocfg",
+ "libm",
+]
+
 [[package]]
 name = "once_cell"
 version = "1.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6f61fba1741ea2b3d6a1e3178721804bb716a68a6aeba1149b5d52e3d464ea66"
 
+[[package]]
+name = "optional"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "978aa494585d3ca4ad74929863093e87cac9790d81fe7aba2b3dc2890643a0fc"
+
 [[package]]
 name = "parking_lot"
 version = "0.12.1"
@@ -87,6 +302,33 @@ dependencies = [
  "windows-sys",
 ]
 
+[[package]]
+name = "parry2d"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a2342b33d77a0393879b1b85eac2a30cc4b36d10b30e111f55a5e9280cf5eb87"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags",
+ "downcast-rs",
+ "either",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "rustc-hash",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+]
+
+[[package]]
+name = "paste"
+version = "1.0.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d01a5bd0424d00070b0098dd17ebca6f961a959dead1dbcbbbc1d1cd8d3deeba"
+
 [[package]]
 name = "proc-macro2"
 version = "1.0.51"
@@ -105,7 +347,7 @@ dependencies = [
  "cfg-if",
  "indoc",
  "libc",
- "memoffset",
+ "memoffset 0.8.0",
  "parking_lot",
  "pyo3-build-config",
  "pyo3-ffi",
@@ -165,6 +407,33 @@ dependencies = [
  "proc-macro2",
 ]
 
+[[package]]
+name = "rapier2d"
+version = "0.17.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dcd37fc7fad61534f35ce9cb198283cd7055c08cdc4a1565d0974a1fe74d5e59"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bit-vec",
+ "bitflags",
+ "crossbeam",
+ "downcast-rs",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "parry2d",
+ "rustc-hash",
+ "simba",
+ "vec_map",
+]
+
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
 [[package]]
 name = "redox_syscall"
 version = "0.2.16"
@@ -174,18 +443,73 @@ dependencies = [
  "bitflags",
 ]
 
+[[package]]
+name = "robust"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5864e7ef1a6b7bcf1d6ca3f655e65e724ed3b52546a0d0a663c991522f552ea"
+
+[[package]]
+name = "rustc-hash"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
+
+[[package]]
+name = "safe_arch"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "794821e4ccb0d9f979512f9c1973480123f9bd62a90d74ab0f9426fcf8f4a529"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "scopeguard"
 version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
 
+[[package]]
+name = "simba"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "50582927ed6f77e4ac020c057f37a268fc6aebc29225050365aacbb9deeeddc4"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
+[[package]]
+name = "slab"
+version = "0.4.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4614a76b2a8be0058caa9dbbaf66d988527d86d003c11a94fbd335d7661edcef"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "smallvec"
 version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a507befe795404456341dfab10cef66ead4c041f62b8b11bbb92bffe5d0953e0"
 
+[[package]]
+name = "spade"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1190e0e8f4eb17fc3dbb2d20e1142676e56aaac3daede39f64a3302d687b80f3"
+dependencies = [
+ "num-traits",
+ "optional",
+ "robust",
+ "smallvec",
+]
+
 [[package]]
 name = "syn"
 version = "1.0.107"
@@ -203,6 +527,12 @@ version = "0.12.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ae9980cab1db3fceee2f6c6f643d5d8de2997c58ee8d25fb0cc8a9e9e7348e5"
 
+[[package]]
+name = "typenum"
+version = "1.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.6"
@@ -215,6 +545,22 @@ version = "0.1.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e1766d682d402817b5ac4490b3c3002d91dfa0d22812f341609f97b08757359c"
 
+[[package]]
+name = "vec_map"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f1bddf1187be692e79c5ffeab891132dfb0f236ed36a43c7ed39f1165ee20191"
+
+[[package]]
+name = "wide"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "feff0a412894d67223777b6cc8d68c0dab06d52d95e9890d5f2d47f10dd9366c"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
 [[package]]
 name = "windows-sys"
 version = "0.45.0"
diff --git a/libs/Difficult_Rocket_rs/src/Cargo.toml b/libs/Difficult_Rocket_rs/src/Cargo.toml
index 6abd6be..b71e04b 100644
--- a/libs/Difficult_Rocket_rs/src/Cargo.toml
+++ b/libs/Difficult_Rocket_rs/src/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "difficult_rocket_rs"
-version = "0.1.10"
+version = "0.2.0"
 edition = "2021"
 license-file = '../../LICENSE'
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
@@ -11,6 +11,10 @@ license-file = '../../LICENSE'
 name = 'Difficult_Rocket_rs'
 crate-type = ["cdylib"]
 
+[dependencies.rapier2d]
+version = "0.17.1"
+features = ["simd-stable"]
+
 [dependencies.pyo3]
 version = "0.18.0"
 features = ["extension-module"]
diff --git a/libs/Difficult_Rocket_rs/src/src/lib.rs b/libs/Difficult_Rocket_rs/src/src/lib.rs
index 73e7675..eac4923 100644
--- a/libs/Difficult_Rocket_rs/src/src/lib.rs
+++ b/libs/Difficult_Rocket_rs/src/src/lib.rs
@@ -14,7 +14,7 @@ use pyo3::prelude::*;
 
 #[pyfunction]
 fn get_version_str() -> String {
-    return String::from("0.1.10.0");
+    return String::from("0.2.0.0");
 }
 
 #[pyfunction]
diff --git a/libs/Difficult_Rocket_rs/src/src/types.rs b/libs/Difficult_Rocket_rs/src/src/types.rs
index 0e2e6e1..ae9ecd6 100644
--- a/libs/Difficult_Rocket_rs/src/src/types.rs
+++ b/libs/Difficult_Rocket_rs/src/src/types.rs
@@ -70,12 +70,14 @@ pub mod sr1 {
 pub mod dr {
     pub enum ConnectType {
         Stick,
-        FixedPoint {dx: f64, angle: f64},
-        RotatePoint {dx: f64, angle: f64}
+        FixedPoint,
+        RotatePoint,
     }
 
     pub struct Connect {
         pub c_type: ConnectType,
+        pub d_pos: f64,
+        pub angel: f64,
 
     }