Struct parry3d::partitioning::QBVH

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pub struct QBVH<T> { /* private fields */ }

Expand description

A quaternary bounding-volume-hierarchy.

This is a bounding-volume-hierarchy where each node has either four children or none.

Implementations

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impl<T: IndexedData> QBVH<T>

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pub fn clear_and_rebuild(
 &mut self,
 data_gen: impl QBVHDataGenerator<T>,
 dilation_factor: Real
)

Clears this quaternary BVH and rebuilds it from a new set of data and AABBs.

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impl<T: IndexedData> QBVH<T>

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pub fn clear_and_rebuild_with_splitter(
 &mut self,
 data_gen: impl QBVHDataGenerator<T>,
 splitter: impl QBVHDataSplitter<T>,
 dilation_factor: Real
)

Clears this quaternary BVH and rebuilds it from a new set of data and AABBs.

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impl<T: IndexedData> QBVH<T>

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pub fn new() -> Self

Initialize an empty QBVH.

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pub fn iter_data_mut(&mut self) -> impl Iterator<Item = (NodeIndex, &mut T)>

Iterates mutably through all the leaf data in this QBVH.

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pub fn iter_data(&self) -> impl Iterator<Item = (NodeIndex, &T)>

Iterate through all the leaf data in this QBVH.

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pub fn root_aabb(&self) -> &AABB

The AABB of the root of this tree.

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pub fn node_aabb(&self, node_id: NodeIndex) -> Option<AABB>

The AABB of the given node.

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pub fn leaf_data(&mut self, node_id: NodeIndex) -> Option<T>

Returns the data associated to a given leaf.

Returns None if the provided node ID does not identify a leaf.

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pub fn raw_nodes(&self) -> &[QBVHNode]

The raw nodes of this BVH.

If this QBVH isn’t empty, the first element of the returned slice is the root of the tree. The other elements are not arranged in any particular order. The more high-level traversal methods should be used instead of this.

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pub fn raw_proxies(&self) -> &[QBVHProxy<T>]

The raw proxies of this BVH.

If this QBVH isn’t empty, the first element of the returned slice is the root of the tree. The other elements are not arranged in any particular order. The more high-level traversal methods should be used instead of this.

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pub fn scaled(self, scale: &Vector<Real>) -> Self

Computes a scaled version of this QBVH.

This will apply the scale to each AABB on this BVH.

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impl<T: IndexedData> QBVH<T>

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pub fn traverse_depth_first(&self, visitor: &mut impl SimdVisitor<T, SimdAABB>)

Performs a depth-first traversal on the BVH.

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pub fn traverse_depth_first_with_stack(
 &self,
 visitor: &mut impl SimdVisitor<T, SimdAABB>,
 stack: &mut Vec<u32>
)

Performs a depth-first traversal on the BVH.

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pub fn traverse_best_first<BFS>(
 &self,
 visitor: &mut BFS
) -> Option<(NodeIndex, BFS::Result )> where
 BFS: SimdBestFirstVisitor<T, SimdAABB>,
 BFS::Result: Clone,

Performs a best-first-search on the BVH.

Returns the content of the leaf with the smallest associated cost, and a result of user-defined type.

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pub fn intersect_aabb(&self, aabb: &AABB, out: &mut Vec<T>)

Retrieve all the data of the nodes with AABBs intersecting the given AABB:

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pub fn traverse_bvtt<T2: IndexedData>(
 &self,
 qbvh2: &QBVH<T2>,
 visitor: &mut impl SimdSimultaneousVisitor<T, T2, SimdAABB>
)

Performs a simultaneous traversal of two QBVH.

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pub fn traverse_bvtt_with_stack<T2: IndexedData>(
 &self,
 qbvh2: &QBVH<T2>,
 visitor: &mut impl SimdSimultaneousVisitor<T, T2, SimdAABB>,
 stack: &mut Vec<(u32, u32 )>
)

Performs a simultaneous traversal of two QBVH.

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impl<T: IndexedData> QBVH<T>

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pub fn pre_update(&mut self, data: T)

Marks a piece of data as dirty so it can be updated during the next call to self.update.

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pub fn update<F>(&mut self, aabb_builder: F, dilation_factor: Real) where
F: Fn(&T) -> AABB,

Update all the nodes that have been marked as dirty by self.pre_update.

Trait Implementations

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impl<T: Clone> Clone for QBVH<T>

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fn clone(&self) -> QBVH<T>

Returns a copy of the value. Read more

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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

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impl<T: Debug> Debug for QBVH<T>

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

Auto Trait Implementations

impl<T> RefUnwindSafe for QBVH<T> where
T: RefUnwindSafe,

impl<T> Send for QBVH<T> where
T: Send,

impl<T> Sync for QBVH<T> where
T: Sync,

impl<T> Unpin for QBVH<T> where
T: Unpin,

impl<T> UnwindSafe for QBVH<T> where
T: UnwindSafe,

Blanket Implementations

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impl<T> Any for T where
T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> Downcast for T where
T: Any,

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fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait. Read more

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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>

Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait. Read more

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fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s. Read more

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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s. Read more

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impl<T> DowncastSync for T where
T: Any + Send + Sync,

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T where
U: From<T>,

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Same<T> for T

type Output = T

Should always be Self

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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

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fn clone_into(&self, target: &mut T)

🔬 This is a nightly-only experimental API. (toowned_clone_into)

Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

Struct parry3d::partitioning::QBVH

Implementations

impl<T: IndexedData> QBVH<T>

pub fn clear_and_rebuild( &mut self, data_gen: impl QBVHDataGenerator<T>, dilation_factor: Real)

impl<T: IndexedData> QBVH<T>

pub fn clear_and_rebuild_with_splitter( &mut self, data_gen: impl QBVHDataGenerator<T>, splitter: impl QBVHDataSplitter<T>, dilation_factor: Real)

impl<T: IndexedData> QBVH<T>

pub fn new() -> Self

pub fn iter_data_mut(&mut self) -> impl Iterator<Item = (NodeIndex, &mut T)>

pub fn iter_data(&self) -> impl Iterator<Item = (NodeIndex, &T)>

pub fn root_aabb(&self) -> &AABB

pub fn node_aabb(&self, node_id: NodeIndex) -> Option<AABB>

pub fn leaf_data(&mut self, node_id: NodeIndex) -> Option<T>

pub fn raw_nodes(&self) -> &[QBVHNode]

pub fn raw_proxies(&self) -> &[QBVHProxy<T>]

pub fn scaled(self, scale: &Vector<Real>) -> Self

impl<T: IndexedData> QBVH<T>

pub fn traverse_depth_first(&self, visitor: &mut impl SimdVisitor<T, SimdAABB>)

pub fn traverse_depth_first_with_stack( &self, visitor: &mut impl SimdVisitor<T, SimdAABB>, stack: &mut Vec<u32>)

pub fn traverse_best_first<BFS>( &self, visitor: &mut BFS) -> Option<(NodeIndex, BFS::Result)> where BFS: SimdBestFirstVisitor<T, SimdAABB>, BFS::Result: Clone,

pub fn intersect_aabb(&self, aabb: &AABB, out: &mut Vec<T>)

pub fn traverse_bvtt<T2: IndexedData>( &self, qbvh2: &QBVH<T2>, visitor: &mut impl SimdSimultaneousVisitor<T, T2, SimdAABB>)

pub fn traverse_bvtt_with_stack<T2: IndexedData>( &self, qbvh2: &QBVH<T2>, visitor: &mut impl SimdSimultaneousVisitor<T, T2, SimdAABB>, stack: &mut Vec<(u32, u32)>)

impl<T: IndexedData> QBVH<T>

pub fn pre_update(&mut self, data: T)

pub fn update<F>(&mut self, aabb_builder: F, dilation_factor: Real) where F: Fn(&T) -> AABB,

Trait Implementations

impl<T: Clone> Clone for QBVH<T>

fn clone(&self) -> QBVH<T>

fn clone_from(&mut self, source: &Self)

impl<T: Debug> Debug for QBVH<T>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Auto Trait Implementations

impl<T> RefUnwindSafe for QBVH<T> where T: RefUnwindSafe,

impl<T> Send for QBVH<T> where T: Send,

impl<T> Sync for QBVH<T> where T: Sync,

impl<T> Unpin for QBVH<T> where T: Unpin,

impl<T> UnwindSafe for QBVH<T> where T: UnwindSafe,

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for T where T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> Downcast for T where T: Any,

fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>

fn as_any(&self) -> &(dyn Any + 'static)

fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

impl<T> DowncastSync for T where T: Any + Send + Sync,

fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

impl<T> From<T> for T

fn from(t: T) -> T

impl<T, U> Into<U> for T where U: From<T>,

fn into(self) -> U

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

fn is_in_subset(&self) -> bool

fn to_subset_unchecked(&self) -> SS

fn from_subset(element: &SS) -> SP

impl<T> ToOwned for T where T: Clone,

type Owned = T

fn to_owned(&self) -> T

fn clone_into(&self, target: &mut T)

impl<T, U> TryFrom<U> for T where U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for T where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

pub fn clear_and_rebuild(
&mut self,
data_gen: impl QBVHDataGenerator<T>,
dilation_factor: Real
)

pub fn clear_and_rebuild_with_splitter(
&mut self,
data_gen: impl QBVHDataGenerator<T>,
splitter: impl QBVHDataSplitter<T>,
dilation_factor: Real
)

pub fn traverse_depth_first_with_stack(
&self,
visitor: &mut impl SimdVisitor<T, SimdAABB>,
stack: &mut Vec<u32>
)

pub fn traverse_best_first<BFS>(
&self,
visitor: &mut BFS
) -> Option<(NodeIndex, BFS::Result )> where
BFS: SimdBestFirstVisitor<T, SimdAABB>,
BFS::Result: Clone,

pub fn traverse_bvtt<T2: IndexedData>(
&self,
qbvh2: &QBVH<T2>,
visitor: &mut impl SimdSimultaneousVisitor<T, T2, SimdAABB>
)

pub fn traverse_bvtt_with_stack<T2: IndexedData>(
&self,
qbvh2: &QBVH<T2>,
visitor: &mut impl SimdSimultaneousVisitor<T, T2, SimdAABB>,
stack: &mut Vec<(u32, u32 )>
)

pub fn update<F>(&mut self, aabb_builder: F, dilation_factor: Real) where
F: Fn(&T) -> AABB,

impl<T> RefUnwindSafe for QBVH<T> where
T: RefUnwindSafe,

impl<T> Send for QBVH<T> where
T: Send,

impl<T> Sync for QBVH<T> where
T: Sync,

impl<T> Unpin for QBVH<T> where
T: Unpin,

impl<T> UnwindSafe for QBVH<T> where
T: UnwindSafe,

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T> Downcast for T where
T: Any,

impl<T> DowncastSync for T where
T: Any + Send + Sync,

impl<T, U> Into<U> for T where
U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T> ToOwned for T where
T: Clone,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,