Module broadphase 

Broadphase AABB kernels for parallel overlap detection.

Structs

AabbGpu

Axis-aligned bounding box using f32 coordinates for GPU compatibility.

AabbOverlapKernel

Kernel that detects overlapping AABB pairs.

AabbSortKernel

Kernel that sorts AABBs along the X-axis and outputs sorted indices.

BvhGpuNode

A single node of a GPU-oriented BVH tree.

CompactPairList

A deduplicated, sorted list of overlapping body-ID pairs.

SortAndSweepGpu

Sort-and-sweep broadphase operating on AabbGpu values.

UniformGridGpu

Uniform 3-D grid for GPU broadphase.

Functions

aabb_surface_area

Compute the surface area of an AabbGpu.

assign_to_grid_cells

Assigns each AABB in a flat array to uniform grid cells.

build_bvh

Build a BVH using a simple midpoint-split heuristic.

build_lbvh

Build a Linear BVH (LBVH) by sorting AABBs on their Morton codes.

bvh_depth

Compute the depth of the BVH tree.

bvh_leaf_count

Count the number of leaf nodes in the BVH.

bvh_sah_cost

Surface Area Heuristic (SAH) cost of a BVH tree.

lbvh_query_pairs

Query overlapping leaf pairs in an LBVH by traversal.

morton_code

Compute the 3-D Morton code (Z-curve) for integer coordinates.

morton_key_for_aabb

Compute a Morton key for a world-space AABB centroid.

morton_sort

Sort a slice of AabbGpu by Morton code (Z-order curve).

pairs_from_grid_assignments

Extract candidate pairs from a cell-assignment list.

refit_bvh

Refit BVH bounding boxes bottom-up after leaf AABBs have changed.

sah_best_split

Surface Area Heuristic (SAH) split for BVH construction.

sap_incremental_update

Update the sort-and-sweep pair list after a set of bodies have moved.

sort_and_sweep_flat

Sort-and-sweep on a flat f64 AABB array (GPU-style parallel data layout).