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BroadphaseSceneGraph

oxiphysics_collision::broadphase::types

Struct BroadphaseSceneGraph 

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pub struct BroadphaseSceneGraph { /* private fields */ }
Expand description

A hierarchical scene graph that accelerates broadphase by skipping subtrees whose root AABB does not overlap the query.

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impl BroadphaseSceneGraph

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pub fn new() -> Self

Create an empty scene graph.

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pub fn add_node(&mut self, aabb: Aabb, parent: Option<usize>) -> usize

Add a node. Returns its index.

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pub fn remove_node(&mut self, idx: usize)

Remove a node (marks inactive, does not compact).

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pub fn update_aabb(&mut self, idx: usize, aabb: Aabb)

Update the AABB for a node.

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pub fn node_count(&self) -> usize

Number of active nodes.

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pub fn children_of(&self, parent: usize) -> Vec<usize>

Returns the indices of children of parent.

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pub fn find_pairs_bvh(&self) -> Vec<CollisionPair>

Find all overlapping pairs using a BVH.

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

Query all active nodes overlapping the given AABB.

Trait Implementations§

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impl Debug for BroadphaseSceneGraph

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

Formats the value using the given formatter. Read more
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impl Default for BroadphaseSceneGraph

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fn default() -> BroadphaseSceneGraph

Returns the “default value” for a type. Read more

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impl<T> Any for T
where T: 'static + ?Sized,

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fn fmt_binary(self) -> FmtBinary<Self>
where Self: Binary,

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fn fmt_display(self) -> FmtDisplay<Self>
where Self: Display,

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where Self: LowerExp,

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where Self: Octal,

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where Self: Pointer,

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where Self: UpperExp,

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where Self: UpperHex,

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where &'a Self: for<'a> IntoIterator,

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