Struct GridBroadphase 

pub struct GridBroadphase {
    pub cell_size: f64,
    pub cells: HashMap<(i32, i32, i32), Vec<u64>>,
}

Uniform-grid broadphase that hashes objects into fixed-size cells.

Fields

cell_size: f64

Side length of each cubic cell.

cells: HashMap<(i32, i32, i32), Vec<u64>>

Map from cell coordinate to the list of object ids in that cell.

Implementations

impl GridBroadphase

pub fn new(cell_size: f64) -> Self

Create a new grid with the given cell size.

pub fn insert(&mut self, id: u64, min: [f64; 3], max: [f64; 3])

Insert an object into every grid cell that its AABB overlaps.

pub fn cell_coord(&self, pos: f64) -> i32

Convert a world-space coordinate to its cell index.

pub fn query_potential_pairs(&self) -> Vec<(u64, u64)>

Return all object-id pairs that share at least one cell (conservative).

pub fn clear(&mut self)

Remove all objects from all cells.

impl GridBroadphase

pub fn query_point(&self, p: [f64; 3]) -> Vec<u64>

Return all object ids in the cell that contains world-space point p.

pub fn total_entries(&self) -> usize

Return total number of object-cell entries (not unique objects).

pub fn occupied_cells(&self) -> usize

Return the number of occupied cells.

pub fn remove(&mut self, id: u64)

Remove a specific object id from all cells it occupies.

Scans all cells — O(cells * max_per_cell). For high-density scenes prefer clear + bulk re-insert.

pub fn query_aabb(&self, min: [f64; 3], max: [f64; 3]) -> Vec<u64>

Return a conservative over-approximation of all objects that could overlap aabb by checking every cell the AABB touches.