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AabbTree

oxiphysics_collision::spatial_queries

Struct AabbTree 

Source 
pub struct AabbTree {
    pub nodes: Vec<DynamicNode>,
    pub root: Option<usize>,
    pub margin: f64,
    /* private fields */
}
Expand description

Dynamic AABB tree for broad-phase collision detection.

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§nodes: Vec<DynamicNode>

Node storage.

§root: Option<usize>

Root node index.

§margin: f64

Fat AABB margin.

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impl AabbTree

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pub fn new(margin: f64) -> Self

Construct an empty AABB tree.

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

Insert an AABB with user data, returns the leaf node index.

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pub fn remove(&mut self, leaf_idx: usize)

Remove a leaf node by index.

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pub fn update(&mut self, leaf_idx: usize, new_aabb: QueryAabb)

Update a leaf node’s AABB (remove + re-insert if moved outside fat AABB).

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

Query all leaf nodes whose fat AABB overlaps query_aabb.

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pub fn raycast(&self, origin: [f64; 3], dir: [f64; 3], max_t: f64) -> Vec<usize>

Raycast: find all leaf nodes whose fat AABB is hit by ray (origin, dir, max_t).

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pub fn n_nodes(&self) -> usize

Number of live nodes.

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