Struct SpatialIndex3D 

pub struct SpatialIndex3D { /* private fields */ }

3D spatial index using a simple AABB list with efficient queries.

For small to medium numbers of objects, a simple list with AABB tests outperforms tree-based structures due to cache locality. For larger numbers (>1000), a BVH would be more efficient.

Implementations

impl SpatialIndex3D

pub fn new() -> Self

Creates a new empty spatial index.

pub fn with_capacity(capacity: usize) -> Self

Creates a spatial index with the given capacity.

pub fn insert(&mut self, entry: SpatialEntry3D)

Inserts a new entry into the spatial index.

pub fn insert_geometry( &mut self, index: usize, geometry: &Geometry3D, position: Vector3<f64>, orientation: usize, )

Inserts a placed geometry into the spatial index.

pub fn len(&self) -> usize

Returns the number of entries in the index.

pub fn is_empty(&self) -> bool

Returns true if the index is empty.

pub fn clear(&mut self)

Clears all entries from the index.

pub fn query_aabb(&self, query_aabb: &Aabb3D) -> Vec<&SpatialEntry3D>

Finds all entries whose bounding boxes intersect with the given AABB.

pub fn query_geometry( &self, geometry: &Geometry3D, position: Vector3<f64>, orientation: usize, ) -> Vec<&SpatialEntry3D>

Finds all entries that potentially intersect with a geometry at the given position.

pub fn query_with_margin( &self, geometry: &Geometry3D, position: Vector3<f64>, orientation: usize, margin: f64, ) -> Vec<&SpatialEntry3D>

Finds all entries that potentially intersect with the given geometry AABB expanded by a margin (for spacing).

pub fn iter(&self) -> impl Iterator<Item = &SpatialEntry3D>

Returns an iterator over all entries in the index.

pub fn get_potential_collisions( &self, geometry: &Geometry3D, position: Vector3<f64>, orientation: usize, spacing: f64, ) -> Vec<usize>

Returns the indices of potentially colliding geometries for a query geometry.

pub fn has_collision( &self, geometry: &Geometry3D, position: Vector3<f64>, orientation: usize, spacing: f64, ) -> bool

Checks if a geometry at the given position would collide with any existing entries.

pub fn can_place( &self, geometry: &Geometry3D, position: Vector3<f64>, orientation: usize, boundary_aabb: &Aabb3D, spacing: f64, ) -> bool

Checks if a geometry at the given position fits within the boundary and doesn’t collide with any existing entries.

Trait Implementations

impl Debug for SpatialIndex3D

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

Formats the value using the given formatter.

impl Default for SpatialIndex3D

fn default() -> Self

Returns the “default value” for a type.