[−][src]Crate broccoli
Broccoli is a broadphase collision detection library. The base data structure is a hybrid between a KD Tree and Sweep and Prune.
Data Structure
Using this crate, the user can create three flavors of the same fundamental data structure. The different characteristics are exlored more in depth in the broccoli book
(Rect<N>,&mut T)*recommended(Rect<N>,T)&mut (Rect<N>,T)
There are so many Tree types which one do I use?
Different variations are provided to give the user
more or less control which rely or more or less unsafe code.
The collections module goes into more depth as well as the book mentioned above.
TL;DR use collections::TreeRefInd.
Floating Point
The Num trait used for the aabbs inserted into the tree must implement Ord,
thus you can't add f32 or f64. However, you can use the ordered_float crate, which
is re-exported at [axgeom::ordered_float].
Construction and querying is very comparison heavy so prefer NotNan<T> over OrderedFloat<T>.
However, check out the broccoli book mentioned above. However, for best performance,
you will likely want to convert the floats to integers anyway.
Protecting Invariants Statically
A lot is done to forbid the user from violating the invariants of the tree once constructed
while still allowing them to mutate parts of each element of the tree. The user can mutably traverse
the tree but the mutable references returns are hidden behind the PMut<T> type that forbids
mutating the whole element.
Unsafety
Raw pointers are used for the container types in the container module and for caching the results of finding colliding pairs.
MultiRectMut uses unsafety to allow the user to have mutable references to elements
that belong to rectangle regions that don't intersect at the same time. This is why
the Aabb trait is unsafe.
Name
If you shorten "broadphase collision" to "broad colli" and say it fast, it sounds like broccoli. Broccoli also have tree like properties and broccoli uses a tree data structure.
nostd
Uses no_std, but uses the alloc crate.
Re-exports
pub use axgeom; |
pub use compt; |
pub use rayon; |
Modules
| analyze | Contains code to help analyze the |
| collections | Container trees that deref to |
| convert | Helper functions to convert aabbs in floats to integers |
| node | Contains node-level building block structs and visitors used for a |
| par | Contains code to write generic code that can be run in parallel, or sequentially. The api is exposed in case users find it useful when writing parallel query code to operate on the tree. |
| pmut | Provides a mutable pointer type that is more restrictive that |
| prelude | The broccoli prelude. |
| query | Module contains query related structs. |
Structs
| BBox | A bounding box container object that implements Aabb and HasInner.
Note that |
| NotSorted | A version of Tree where the elements are not sorted along each axis, like a KD Tree.
For comparison, a normal kd-tree is provided by |
| Tree | The data structure this crate revoles around. |
Traits
| Aabb | Trait to signify that this object has an axis aligned bounding box. get() must return a aabb with the same value in it while the element is in the dinotree. This is hard for the user not to do, this the user does not have &mut self, and the aabb is implied to belong to self. But it is still possible through the use of static objects or RefCell/ Mutex, etc. Using this type of methods the user could make different calls to get() return different aabbs. This is unsafe since we allow query algorithms to assume the following: If two object's aabb's don't intersect, then they can be mutated at the same time. |
| HasInner | Trait exposes an api where you can return a read-only reference to the axis-aligned bounding box and at the same time return a mutable reference to a seperate inner section. |
| Num | The underlying number type used for the dinotree. It is auto implemented by all types that satisfy the type constraints. Notice that no arithmatic is possible. The tree is constructed using only comparisons and copying. |
Functions
| bbox | Shorthand constructor of |
| default_axis | Returns the default axis type. |
| new | Create a |
| new_par | Create a |
| with_axis | Create a |
| with_axis_par | Create a |
Type Definitions
| DefaultA | The default starting axis of a |