Struct DynamicAabbTree 

pub struct DynamicAabbTree { /* private fields */ }

Incrementally updated AABB tree (insertion/removal without full rebuild).

Each object gets a fattened AABB; the tree is only updated when the object moves outside its fat AABB.

Implementations

impl DynamicAabbTree

pub fn new(margin: Real) -> Self

Create a new dynamic tree with the given fattening margin.

pub fn insert(&mut self, aabb: Aabb) -> usize

Insert a new object. Returns its index.

pub fn update(&mut self, index: usize, aabb: Aabb) -> bool

Update the AABB for an existing object.

Returns true if the internal tree was invalidated.

pub fn rebuild_if_dirty(&mut self)

Ensure the internal BVH is up to date.

pub fn find_pairs(&mut self) -> Vec<CollisionPair>

Query all overlapping pairs.

pub fn query(&mut self, aabb: &Aabb) -> Vec<usize>

Query all objects overlapping a given AABB.

pub fn len(&self) -> usize

Number of objects.

pub fn is_empty(&self) -> bool

Whether the tree is empty.

impl DynamicAabbTree

pub fn mark_dirty(&mut self)

Mark the tree as dirty so it will be rebuilt on the next query.

pub fn is_dirty(&self) -> bool

Returns true if the tree needs rebuilding.

pub fn find_proximity_pairs(&mut self, inflation: Real) -> Vec<CollisionPair>

Return all pairs whose AABBs overlap when inflated by inflation.

This is a proximity query: objects within inflation of each other are included even if their tight AABBs do not touch.

pub fn batch_insert(&mut self, aabbs: &[Aabb])

Batch-insert many AABBs at once (more efficient than repeated insert).

Appends all AABBs and marks the tree dirty; call rebuild_if_dirty (or any query method) to make the tree consistent.

pub fn validate(&mut self) -> bool

Validate parent/child link consistency in the underlying BVH.

Calls rebuild_if_dirty first, then delegates to BvhBroadphase::validate.

pub fn tree_info(&self) -> (usize, bool)

Return tree statistics: (total objects, is_dirty).

pub fn clear(&mut self)

Remove all objects and reset the tree.