So, I don't know Rust very well and their code is not really documented at all, so this is just a guess. But...
It seem that the default world container assigns an integrator called "BodySmpEulerIntegrator", for which I can't seem to find the source. In any case, with a name like that I would have two predictions:
a) 'Smp' stands for 'simple' in which case this would be a stock/naive/vanilla Euler integrator. If that's indeed true, then I suspect the answer is that it will NOT handle the transition to SE(n>2), as they tend to blow up when the Hamiltonian becomes at all stiff. That is usually the case for your standard 6N+2 dof system in 3D.
b) 'Smp' stands for 'symplectic', which would make the default integrator some form of symplectic euler integrator. To my knowledge any SI should handle a 3D non-timevariant, non-chaotic Hamiltonian. This seems much more likely, given the amount of effort they've put in. Indeed, if you look at the examples that have a 2- and 3-D version, they don't seem to reassign the integrator.
Well again the code is nearly completely opaque to me (goes to show you that there is such a thing as too much abstraction) but again based off of the name "semi_implicit_integrate" it would be crazy for this to be anything but a Semi-Implicit Euler integrator. That falls into the class of symplectic integrators, so it should handle SE(3) fine.
There is also a explicit method in there, which probably won't handle it very well.
On the other hand, I hesitate to argue with the author about their own code... or are you just the OP?
It seem that the default world container assigns an integrator called "BodySmpEulerIntegrator", for which I can't seem to find the source. In any case, with a name like that I would have two predictions:
a) 'Smp' stands for 'simple' in which case this would be a stock/naive/vanilla Euler integrator. If that's indeed true, then I suspect the answer is that it will NOT handle the transition to SE(n>2), as they tend to blow up when the Hamiltonian becomes at all stiff. That is usually the case for your standard 6N+2 dof system in 3D.
b) 'Smp' stands for 'symplectic', which would make the default integrator some form of symplectic euler integrator. To my knowledge any SI should handle a 3D non-timevariant, non-chaotic Hamiltonian. This seems much more likely, given the amount of effort they've put in. Indeed, if you look at the examples that have a 2- and 3-D version, they don't seem to reassign the integrator.
That's a lot of guess-work on my part, though.