Struct DynamicAabbTree 

pub struct DynamicAabbTree {
    pub margin: Fix128,
    pub metric: MetricWeights,
    /* private fields */
}

Dynamic AABB Tree for incremental broadphase

Fields

margin: Fix128

AABB fattening margin

metric: MetricWeights

The metric margin is measured in.

A margin is a clearance, so under a non-Euclidean metric it has to be converted before it can pad a Euclidean box: a clearance of m in the cube metric reaches √3·m in Euclidean space, and padding by the plain m lets pairs through the broadphase. Euclidean by default, and that path is bit-identical to having no metric at all.

Implementations

impl DynamicAabbTree

pub const fn new() -> Self

Create a new empty tree

pub fn insert(&mut self, aabb: AABB, user_data: u32) -> u32

Insert a new AABB, returns the proxy (node) ID

pub fn remove(&mut self, proxy_id: u32)

Remove a proxy by its ID

pub fn update(&mut self, proxy_id: u32, new_aabb: AABB) -> bool

Update a proxy’s AABB. Returns true if the tree was modified.

Only re-inserts if the tight AABB has left the fat AABB.

pub fn user_data(&self, proxy_id: u32) -> u32

Get user data for a proxy

pub fn get_aabb(&self, proxy_id: u32) -> AABB

Get the AABB for a proxy

pub fn query(&self, aabb: &AABB) -> Vec<u32>

Query all proxies overlapping the given AABB

pub fn query_callback<F: FnMut(u32)>(&self, aabb: &AABB, callback: F)

Query with callback (avoids allocation)

pub fn find_pairs(&self) -> Vec<(u32, u32)>

Find all potentially overlapping pairs

pub fn proxy_count(&self) -> usize

Number of active proxies (leaf nodes)

pub fn node_count(&self) -> usize

Total node count (including internal)

pub fn height(&self) -> i32

Tree height

Trait Implementations

impl Default for DynamicAabbTree

fn default() -> Self

Returns the “default value” for a type.