Struct heron::rapier_plugin::rapier2d::parry::partitioning::QBVH

pub struct QBVH<T> { /* fields omitted */ }

A quaternary bounding-volume-hierarchy.

This is a bounding-volume-hierarchy where each node has either four children or none.

Implementations

impl<T> QBVH<T> where
    T: IndexedData, 

pub fn new() -> QBVH<T>

Initialize an empty quad-tree.

pub fn iter_data_mut(&mut self) -> impl Iterator<Item = (NodeIndex, &mut T)>

Iterates mutable through all the leaf data in this QBVH.

pub fn iter_data(&self) -> impl Iterator<Item = (NodeIndex, &T)>

Iterate through all the leaf data in this QBVH.

pub fn root_aabb(&self) -> &AABB

The AABB of the root of this tree.

pub fn leaf_data(&mut self, node_id: NodeIndex) -> Option<T>

Returns the data associated to a given leaf.

Returns None if the provided node ID does not identify a leaf.

pub fn clear_and_rebuild(
    &mut self,
    data_gen: impl QBVHDataGenerator<T>,
    dilation_factor: f32
)

Clears this quad-tree and rebuilds it from a new set of data and AABBs.

pub fn pre_update(&mut self, data: T)

Marks a piece of data as dirty so it can be updated during the next call to self.update.

pub fn update<F>(&mut self, aabb_builder: F, dilation_factor: f32) where
    F: Fn(&T) -> AABB, 

Update all the nodes that have been marked as dirty by self.pre_update.

pub fn intersect_aabb(&self, aabb: &AABB, out: &mut Vec<T, Global>)

Retrieve all the data of the nodes with AABBs intersecting the given AABB:

pub fn traverse_depth_first(&self, visitor: &mut impl SimdVisitor<T, SimdAABB>)

Performs a depth-first traversal on the BVH.

pub fn traverse_depth_first_with_stack(
    &self,
    visitor: &mut impl SimdVisitor<T, SimdAABB>,
    stack: &mut Vec<u32, Global>
)

Performs a depth-first traversal on the BVH.

pub fn traverse_best_first<BFS>(
    &self,
    visitor: &mut BFS
) -> Option<(NodeIndex, <BFS as SimdBestFirstVisitor<T, SimdAABB>>::Result)> where
    BFS: SimdBestFirstVisitor<T, SimdAABB>,
    <BFS as SimdBestFirstVisitor<T, SimdAABB>>::Result: Clone, 

Performs a best-first-search on the BVH.

Returns the content of the leaf with the smallest associated cost, and a result of user-defined type.

Trait Implementations

impl<T> Clone for QBVH<T> where
    T: Clone, 

pub fn clone(&self) -> QBVH<T>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<T> Debug for QBVH<T> where
    T: Debug, 

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

Formats the value using the given formatter.