[−][src]Struct box2d_rs::b2_dynamic_tree::B2dynamicTree
A dynamic AABB tree broad-phase, inspired by Nathanael Presson's btDbvt. A dynamic tree arranges data in a binary tree to accelerate queries such as volume queries and ray casts. Leafs are proxies with an AABB. In the tree we expand the proxy AABB by b2_fatAABBFactor so that the proxy AABB is bigger than the client object. This allows the client object to move by small amounts without triggering a tree update.
Nodes are pooled and relocatable, so we use node indices rather than pointers.
Implementations
impl<UserDataType: Clone + Default> B2dynamicTree<UserDataType>
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pub fn new() -> Self
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Constructing the tree initializes the node pool.
pub fn create_proxy(&mut self, aabb: B2AABB, user_data: &UserDataType) -> i32
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destroy the tree, freeing the node pool. create a proxy. Provide a tight fitting AABB and a user_data pointer.
pub fn destroy_proxy(&mut self, proxy_id: i32)
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destroy a proxy. This asserts if the id is invalid.
pub fn move_proxy(
&mut self,
proxy_id: i32,
aabb1: B2AABB,
displacement: B2vec2
) -> bool
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&mut self,
proxy_id: i32,
aabb1: B2AABB,
displacement: B2vec2
) -> bool
Move a proxy with a swepted AABB. If the proxy has moved outside of its fattened AABB, then the proxy is removed from the tree and re-inserted. Otherwise the function returns immediately. @return true if the proxy was re-inserted.
pub fn get_user_data(&self, proxy_id: i32) -> Option<UserDataType>
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Get proxy user data. @return the proxy user data or 0 if the id is invalid.
pub fn was_moved(&self, proxy_id: i32) -> bool
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pub fn clear_moved(&mut self, proxy_id: i32)
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pub fn get_fat_aabb(&self, proxy_id: i32) -> B2AABB
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Get the fat AABB for a proxy.
pub fn query<F: QueryCallback>(&self, callback: F, aabb: B2AABB)
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query an AABB for overlapping proxies. The callback class is called for each proxy that overlaps the supplied AABB.
pub fn ray_cast<T: RayCastCallback>(&self, callback: T, input: &B2rayCastInput)
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Ray-cast against the proxies in the tree. This relies on the callback to perform a exact ray-cast in the case were the proxy contains a shape. The callback also performs the any collision filtering. This has performance roughly equal to k * log(n), where k is the number of collisions and n is the number of proxies in the tree.
input
- the ray-cast input data. The ray extends from p1 to p1 + max_fraction * (p2 - p1).callback
- a callback class that is called for each proxy that is hit by the ray.
pub fn validate(&self)
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Validate this tree. For testing.
pub fn get_height(&self) -> i32
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Compute the height of the binary tree in O(n) time. Should not be called often.
pub fn get_max_balance(&self) -> i32
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Get the maximum balance of an node in the tree. The balance is the difference in height of the two children of a node.
pub fn get_area_ration(&self) -> f32
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Get the ratio of the sum of the node areas to the root area.
pub fn rebuild_bottom_up(&mut self)
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Build an optimal tree. Very expensive. For testing.
pub fn shift_origin(&mut self, new_origin: B2vec2)
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Shift the world origin. Useful for large worlds. The shift formula is: position -= new_origin
new_origin
- the new origin with respect to the old origin
Trait Implementations
impl<UserDataType: Clone> Clone for B2dynamicTree<UserDataType>
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pub fn clone(&self) -> B2dynamicTree<UserDataType>
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pub fn clone_from(&mut self, source: &Self)
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impl<UserDataType: Debug> Debug for B2dynamicTree<UserDataType>
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impl<UserDataType: Default> Default for B2dynamicTree<UserDataType>
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pub fn default() -> B2dynamicTree<UserDataType>
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Auto Trait Implementations
impl<UserDataType> RefUnwindSafe for B2dynamicTree<UserDataType> where
UserDataType: RefUnwindSafe,
UserDataType: RefUnwindSafe,
impl<UserDataType> Send for B2dynamicTree<UserDataType> where
UserDataType: Send,
UserDataType: Send,
impl<UserDataType> Sync for B2dynamicTree<UserDataType> where
UserDataType: Sync,
UserDataType: Sync,
impl<UserDataType> Unpin for B2dynamicTree<UserDataType> where
UserDataType: Unpin,
UserDataType: Unpin,
impl<UserDataType> UnwindSafe for B2dynamicTree<UserDataType> where
UserDataType: UnwindSafe,
UserDataType: UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,