Struct SpatialIndex3D 

pub struct SpatialIndex3D { /* private fields */ }

A linear-scan 3D spatial index.

Stores (key, AABB3) pairs and answers overlap queries via brute-force scan.

Complexity

• Insert: O(1) amortized
• Query: O(n)
• Remove: O(n)

Optimal for N < 1000 due to cache locality.

Reference

Ericson (2005), “Real-Time Collision Detection”, Ch. 6.1

Implementations

impl SpatialIndex3D

pub fn new() -> Self

Creates an empty spatial index.

pub fn with_capacity(capacity: usize) -> Self

Creates with pre-allocated capacity.

pub fn len(&self) -> usize

Returns the number of entries.

pub fn is_empty(&self) -> bool

Whether the index is empty.

pub fn insert(&mut self, key: usize, bounds: AABB3)

Inserts an entry.

Complexity

O(1) amortized

pub fn remove(&mut self, key: usize)

Removes all entries with the given key.

Complexity

O(n)

pub fn query(&self, region: &AABB3) -> Vec<usize>

Returns all keys whose AABB overlaps the query region.

Complexity

O(n)

pub fn query_except(&self, region: &AABB3, exclude: usize) -> Vec<usize>

Returns all keys whose AABB overlaps the query region, excluding a key.

Complexity

O(n)

pub fn has_collision(&self, region: &AABB3) -> bool

Checks if any entry overlaps the query region.

Complexity

O(n) worst case, but short-circuits on first hit.

pub fn has_collision_except(&self, region: &AABB3, exclude: usize) -> bool

Checks if any entry (except the excluded key) overlaps the query region.

pub fn get_bounds(&self, key: usize) -> Option<&AABB3>

Returns the AABB for a given key, if found.

pub fn clear(&mut self)

Removes all entries.

Trait Implementations

impl Clone for SpatialIndex3D

fn clone(&self) -> SpatialIndex3D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SpatialIndex3D

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

Formats the value using the given formatter.

impl Default for SpatialIndex3D

fn default() -> SpatialIndex3D

Returns the “default value” for a type.