Struct HashGrid 

pub struct HashGrid { /* private fields */ }

Spatial hash grid storing point IDs.

Implementations

impl HashGrid

pub fn new(cell_size: f32) -> Self

Create a new hash grid with the given cell size.

pub fn insert(&mut self, p: HgPoint3) -> usize

Insert a point and return its ID.

pub fn query_radius(&self, center: &HgPoint3, r: f32) -> Vec<usize>

Return IDs of all points within radius r of center.

pub fn len(&self) -> usize

Return number of points.

pub fn is_empty(&self) -> bool

True if empty.

pub fn get(&self, id: usize) -> Option<&HgPoint3>

Get a point by ID.

pub fn clear(&mut self)

Clear all points.

pub fn cell_size(&self) -> f32

Return the cell size.

pub fn occupied_cells(&self) -> usize

Return the number of occupied cells.

pub fn nearest(&self, center: &HgPoint3) -> Option<(usize, f32)>

Nearest neighbor (brute force over candidate cells).