Struct DynamicTree 

pub struct DynamicTree { /* private fields */ }

The dynamic tree structure. (b3DynamicTree)

A dynamic AABB tree broad-phase. Leaf nodes are proxies with an AABB, used to hold a user collision object. Nodes are pooled and relocatable, so node indices are used rather than pointers.

Implementations

impl DynamicTree

pub fn create_proxy( &mut self, aabb: Aabb, category_bits: u64, user_data: u64, ) -> i32

Create a proxy in the tree as a leaf node. Returns the node index. (b3DynamicTree_CreateProxy)

pub fn destroy_proxy(&mut self, proxy_id: i32)

Destroy a proxy. This asserts if the id is invalid. (b3DynamicTree_DestroyProxy)

pub fn move_proxy(&mut self, proxy_id: i32, aabb: Aabb)

Move a proxy to a new AABB by removing and reinserting into the tree. (b3DynamicTree_MoveProxy)

pub fn enlarge_proxy(&mut self, proxy_id: i32, aabb: Aabb)

Enlarge a proxy and enlarge ancestors as necessary. (b3DynamicTree_EnlargeProxy)

pub fn set_category_bits(&mut self, proxy_id: i32, category_bits: u64)

Modify the category bits on a proxy. This is an expensive operation. (b3DynamicTree_SetCategoryBits)

impl DynamicTree

pub fn query( &self, aabb: Aabb, mask_bits: u64, require_all_bits: bool, callback: impl FnMut(i32, u64) -> bool, ) -> TreeStats

Query an AABB for overlapping proxies. The callback is called for each proxy that overlaps the supplied AABB and passes the mask-bits filter; return false from the callback to stop. (b3DynamicTree_Query)

pub fn query_closest( &self, point: Vec3, mask_bits: u64, require_all_bits: bool, callback: impl FnMut(f32, i32, u64) -> f32, min_distance_sqr: &mut f32, ) -> TreeStats

Query for the closest proxy to a point. The callback receives the current minimum squared distance and returns an updated distance for that proxy. (b3DynamicTree_QueryClosest)

pub fn ray_cast( &self, input: &RayCastInput, mask_bits: u64, require_all_bits: bool, callback: impl FnMut(&RayCastInput, i32, u64) -> f32, ) -> TreeStats

Ray cast against the proxies in the tree. The callback performs an exact ray cast when the proxy contains a shape, and returns the new ray fraction:

• return 0 to terminate the ray cast
• return a value less than the input max_fraction to clip the ray
• return the input max_fraction to continue without clipping

(b3DynamicTree_RayCast)

pub fn box_cast( &self, input: &BoxCastInput, mask_bits: u64, require_all_bits: bool, callback: impl FnMut(&BoxCastInput, i32, u64) -> f32, ) -> TreeStats

Cast a swept AABB through the tree. The callback returns the new cast fraction, with the same semantics as DynamicTree::ray_cast. (b3DynamicTree_BoxCast)

impl DynamicTree

pub fn rebuild(&mut self, full_build: bool) -> i32

Rebuild the tree while retaining subtrees that haven’t changed. Returns the number of boxes sorted. (b3DynamicTree_Rebuild)

impl DynamicTree

pub fn validate(&self)

Validate this tree. For testing. (b3DynamicTree_Validate)

pub fn validate_no_enlarged(&self)

Validate this tree has no enlarged AABBs. For testing. (b3DynamicTree_ValidateNoEnlarged)

impl DynamicTree

pub fn new(proxy_capacity: i32) -> DynamicTree

Constructing the tree initializes the node pool. (b3DynamicTree_Create)

pub fn destroy(&mut self)

Destroy the tree, freeing the node pool. (b3DynamicTree_Destroy)

Rust would drop the storage automatically; this mirrors the C function (which leaves a zeroed struct) so ported call sites and tests read the same.

pub fn version(&self) -> u64

Dynamic tree version for serialization compatibility. (b3DynamicTree::version / B3_DYNAMIC_TREE_VERSION)

pub fn node_count(&self) -> i32

The number of allocated nodes.

pub fn proxy_count(&self) -> i32

Get the number of proxies created. (b3DynamicTree_GetProxyCount)

pub fn category_bits(&self, proxy_id: i32) -> u64

Get the category bits on a proxy. (b3DynamicTree_GetCategoryBits)

pub fn height(&self) -> i32

Get the height of the binary tree. (b3DynamicTree_GetHeight)

pub fn area_ratio(&self) -> f32

Get the ratio of the sum of the node areas to the root area. (b3DynamicTree_GetAreaRatio)

pub fn root_bounds(&self) -> Aabb

Get the bounding box that contains the entire tree. (b3DynamicTree_GetRootBounds)

pub fn byte_count(&self) -> i32

Get the number of bytes used by this tree. (b3DynamicTree_GetByteCount)

Matches the C formula, which always counts leafBoxes/binIndices slots even when the median-split heuristic leaves those pointers null.

pub fn user_data(&self, proxy_id: i32) -> u64

Get proxy user data. (b3DynamicTree_GetUserData)

pub fn aabb(&self, proxy_id: i32) -> Aabb

Get the AABB of a proxy. (b3DynamicTree_GetAABB)

pub fn root_index(&self) -> i32

The root node index, or crate::core::NULL_INDEX for an empty tree. (b3DynamicTree::root) Exposed read-only for visualization tooling that walks the tree structure (the Tree Benchmark sample’s depth computation).

pub fn node_views(&self) -> Vec<TreeNodeView>

A read-only snapshot of every node slot in the pool (allocated and free), indexed identically to the C m_tree.nodes[i] array so a caller can run the sample’s breadth-first depth walk and per-level AABB draw. This mirrors the C sample reaching directly into b3DynamicTree::nodes; the internal fields stay private, so this is the only sanctioned window onto them.

Trait Implementations

impl Clone for DynamicTree

fn clone(&self) -> DynamicTree

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for DynamicTree

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for DynamicTree

fn default() -> Self

Returns the “default value” for a type.