Struct SpatialHashPos3D 

pub struct SpatialHashPos3D<T: Clone> {
    pub cell_size: f64,
    pub n_items: usize,
    /* private fields */
}

A uniform-grid spatial hash with position storage for exact radius queries.

Fields

cell_size: f64

Side length of each cubic cell.

n_items: usize

Total number of items currently stored.

Implementations

impl<T: Clone> SpatialHashPos3D<T>

pub fn new(cell_size: f64) -> Self

Creates a new empty hash with the given cell size.

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

Maps a coordinate to its cell index.

pub fn cell_key(&self, pos: [f64; 3]) -> (i32, i32, i32)

Returns the 3-D cell key for a world-space position.

pub fn insert(&mut self, id: usize, pos: [f64; 3], data: T) -> (i32, i32, i32)

Inserts item and returns its cell key.

pub fn remove(&mut self, id: usize, pos: [f64; 3])

Removes the entry with the given id from the cell containing pos.

pub fn query_radius(&self, center: [f64; 3], radius: f64) -> Vec<(usize, &T)>

Returns all items within a sphere, with exact distance filtering.

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

Returns all items within an axis-aligned box defined by min and max.

pub fn k_nearest(&self, center: [f64; 3], k: usize) -> Vec<(usize, f64, &T)>

Find the k nearest neighbours of center.

Uses an expanding search radius starting at cell_size and doubling until at least k candidates are found, then filters to the true k nearest.

pub fn query_cell(&self, key: (i32, i32, i32)) -> Vec<(usize, &T)>

Returns all items stored in the given cell.

pub fn clear(&mut self)

Removes all items.

pub fn len(&self) -> usize

Returns the total number of items stored.

pub fn is_empty(&self) -> bool

Returns true if no items are stored.

pub fn n_cells(&self) -> usize

Returns the number of non-empty cells.

pub fn statistics(&self) -> SpatialHashStats

Compute statistics about the spatial hash distribution.

pub fn update_position( &mut self, id: usize, old_pos: [f64; 3], new_pos: [f64; 3], data: T, )

Update the position of an item (remove from old cell, insert into new).