Struct Collider 

pub struct Collider { /* private fields */ }

Face BVH matching the C++ Collider’s storage layout exactly: one interleaved node array (leaves at even indices, internals at odd), the radix-tree topology, and parent links for bottom-up box refits. Leaf boxes live inside node_bbox — no separate leaf copy, and the morton codes are consumed at construction rather than stored, which matters because a collider is cached on every ManifoldImpl.

Implementations

impl Collider

pub fn new(leaf_bbox: Vec<BBox>, leaf_morton: Vec<u32>) -> Self

Create a new Collider from leaf bounding boxes and morton codes. Like the C++ constructor, leaves must already be sorted by morton code — every production caller builds them from a morton-sorted source (sort_geometry sorts faces, merge sorts open verts).

pub fn collisions_one<R: FnMut(usize, usize)>( &self, query: &BBox, query_idx: usize, record: R, )

Run a single query box against the BVH, invoking record(query_idx, leaf_idx) per overlap. Same traversal as collisions_fn for one index — the per-query entry point for parallel callers (&self only, so queries can run concurrently with thread-local recording).

pub fn collisions_fn<F, R>(&self, query_box_fn: F, n: usize, record: R)

where F: Fn(usize) -> BBox, R: FnMut(usize, usize),

BVH-accelerated collision query with function-generated query boxes. For each query index 0..n, calls query_box_fn(i) to get the query AABB, then traverses the BVH to find overlapping leaves.

pub fn collisions_with_boxes<F: FnMut(usize, usize)>( &self, queries: &[BBox], self_collision: bool, record: F, )

BVH-accelerated collision query with pre-computed query boxes.

pub fn collisions_point<F, R>(&self, point_fn: F, n: usize, record: R)

where F: Fn(usize) -> Vec3, R: FnMut(usize, usize),

Point-based collision query using BVH.

pub fn update_boxes(&mut self, leaf_bbox: Vec<BBox>)

Replace the leaf boxes (given in leaf/tree order — for a face collider that is face order, since faces are morton-sorted) and refit the internal boxes. Tree topology is untouched (C++ UpdateBoxes).

pub fn transform(&mut self, transform: &Mat3x4)

Map every node box through an axis-aligned transform (C++ Collider::Transform) — no refit needed since axis-aligned transforms map AABBs to exact AABBs.

pub fn morton_code(position: Vec3, bbox: &BBox) -> u32

pub fn is_axis_aligned(transform: &Mat3x4) -> bool

Trait Implementations

impl Clone for Collider

fn clone(&self) -> Collider

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Collider

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

Formats the value using the given formatter.

impl Default for Collider

fn default() -> Collider

Returns the “default value” for a type.