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Advice Communication between systems (rust programming language)

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I am learning to develop a game (engine) for a 3d top down rpg game. Right now I am at the stage of planning things. One thing I can't seem to figure out is: how to let systems communicate with each other. what I mean by system is : rendering, input handling, audio playing, physics and all the others. 

Can you please explain to me, what do I need to learn or research in order to have an efficient way of telling my rendering system to render the geometry with given position, mesh, animation, texture and other details, from a main function (I guess, or must be somewhere else) ?

I have written a triangle renderer without any textures and details in rust. I want to move forward but have no clue.

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