Crate rigidity_spatial 

Spatial indices.

This crate is separate from the core because the core’s direct dependencies are fixed and checked in CI: kiddo does not fit there, and file I/O is no place for a data structure.

The core defines the NeighborSearch contract and a brute-force reference implementation; the working one lives here. Drawing the boundary at a trait rather than a type leaves room for a grid-based or GPU search later without touching ICP.

Structs

KdTree

A kd-tree built over a cloud.

Enums

SpatialError

An error while building the index.