Struct Bvh 

pub struct Bvh { /* private fields */ }

A flat-array AABB tree for spatial queries.

Implementations

impl Bvh

pub fn build(aabbs: &[(usize, Aabb3)]) -> Self

Build a BVH from a set of (primitive_id, aabb) pairs.

Uses SAH-based construction for good query performance. If aabbs is empty, returns an empty BVH.

pub fn query_overlap(&self, test: &Aabb3) -> Vec<usize>

Query all primitives whose AABB overlaps test.

pub fn query_overlap_into(&self, test: &Aabb3, results: &mut Vec<usize>)

Query primitives overlapping test, reusing caller-provided buffers.

results is cleared before use. This avoids per-call allocation when called in a tight loop (e.g. compound boolean inner loops).

pub fn query_ray(&self, origin: Point3, dir: Vec3) -> Vec<usize>

Query all primitives whose AABB is intersected by a ray.

origin is the ray start, dir is the ray direction (need not be normalised). Only positive-t hits are returned.

pub fn query_ray_into( &self, origin: Point3, dir: Vec3, results: &mut Vec<usize>, )

Query ray-intersecting primitives, reusing caller-provided buffers.

results is cleared before use. This avoids per-call allocation when called in a tight loop.

pub fn query_closest(&self, point: Point3) -> Option<usize>

Find the primitive whose AABB is closest to point.

Note: This returns the primitive with the closest AABB, which is a lower bound on the actual distance. For exact closest-primitive queries, use Bvh::query_closest_with_distance with a callback that computes the true distance to each primitive.

Returns None if the BVH is empty.

pub fn query_closest_with_distance( &self, point: Point3, distance_sq: &dyn Fn(usize) -> f64, ) -> Option<usize>

Find the closest primitive to point using an exact distance callback.

Unlike Bvh::query_closest, this uses the provided distance_sq callback to compute the actual squared distance from point to each candidate primitive, ensuring the true closest primitive is returned. The BVH AABB distances are used only for pruning, so distant subtrees are skipped efficiently.

Returns None if the BVH is empty.

Trait Implementations

impl Clone for Bvh

fn clone(&self) -> Bvh

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Bvh

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

Formats the value using the given formatter.