Module bvh 

CPU BVH (Bounding Volume Hierarchy) tree for broad-phase acceleration.

Provides axis-aligned bounding box (AABB) structures, a recursive BVH tree built with a SAH-inspired median split, ray and AABB queries, and a linearised flat representation for cache-friendly traversal.

Structs

Aabb

An axis-aligned bounding box stored as two [f32; 3] corners.

Bvh

A BVH tree built from a flat list of BvhPrimitives.

BvhNode

A node in the recursive BVH tree.

BvhPrimitive

A leaf primitive: an AABB together with the logical object it belongs to.

BvhStats

Runtime statistics about a BVH tree.

BvhTreeStatistics

Extended BVH tree statistics including average fan-out.

FlatBvhNode

A single node in the linearised (flat) BVH representation.

LbvhPrimitive

LBVH primitive: AABB + Morton code.

MortonCluster

A cluster of Morton-coded primitives, with a pre-computed bounding radius.

RayHit

Result of a closest-hit ray traversal.

Functions

build_morton_clusters

Compute clusters by grouping Morton-sorted LbvhPrimitives into chunks of cluster_size and returning a MortonCluster per group.

bvh_closest_hit

Traverse the BVH returning the closest hit (smallest positive t).

compute_bvh_from_sorted

Build a flat BVH from a pre-sorted (by Morton code) slice of LbvhPrimitives using a radix-sort-inspired clustering strategy.

compute_cluster_radius

Compute the bounding sphere radius for a cluster of LbvhPrimitives.

flatten

Flatten a Bvh into a Vec<FlatBvhNode> (DFS pre-order) together with a reordered primitive-index slice.

hlbvh_split

Find the split index for a slice of Morton-code-sorted primitives using the highest differing bit (HLBVH strategy).

lbvh_build

Build an LBVH (Linear BVH) from a set of primitives using Morton-code sorting and a recursive binary splitting strategy.

morton_code

Compute a 30-bit Morton code for a 3D point normalised to [0, 1]^3.

query_flat

Iterative AABB query over a flat BVH.

ray_aabb_intersect

Test whether a ray defined by origin + t * direction intersects aabb within [0, max_t].

refit

Refit the bounding boxes of an existing BVH after primitives have moved.

sah_cost

Surface Area Heuristic cost: C = (SA_left / SA_parent) * N_left + (SA_right / SA_parent) * N_right