Struct Bvh

pub struct Bvh<K> { /* private fields */ }

Immutable median-split AABB hierarchy over opaque caller keys.

Invalid input bounds are not silently indexed: empty and non-finite boxes are rejected during construction and counted by Self::rejected_items. Accepted keys keep their input position, which makes pair output stable even though node layout is optimized for pruning.

Implementations

impl<K> Bvh<K>

pub fn build(items: impl IntoIterator<Item = SpatialItem<K>>) -> Self

Build a deterministic median-split hierarchy.

pub fn len(&self) -> usize

Number of accepted items.

pub fn is_empty(&self) -> bool

Whether the hierarchy has no accepted items.

pub fn rejected_items(&self) -> usize

Number of source items rejected for empty or non-finite bounds.

pub fn item(&self, index: usize) -> Option<&SpatialItem<K>>

Access an accepted item by its stable input position.

impl<K: Clone> Bvh<K>

pub fn query_aabb(&self, probe: &Aabb, out: &mut Vec<usize>)

Return pairs whose AABBs overlap with at least min_penetration on all axes. A zero threshold includes touching boxes.

Panics

Panics when min_penetration is negative or non-finite; an invalid query must not masquerade as an evaluated empty result. Keys whose bounds overlap probe.

The existing pair queries are self-joins within one tree. A clash test joins TWO meshes, so it probes one tree with the other’s boxes. Without this a caller has no option but a quadratic scan.

pub fn overlap_pairs(&self, min_penetration: Scalar) -> PairCandidates<K>

pub fn pairs_within_distance(&self, max_distance: Scalar) -> PairCandidates<K>

Return pairs whose AABB lower-bound distance is at most max_distance.

Panics

Panics when max_distance is negative or non-finite; an invalid query must not masquerade as an evaluated empty result.

pub fn nearest_to( &self, query: &Aabb, accept: impl Fn(&K) -> bool, ) -> Option<NearestCandidate<K>>

Find the accepted key with the smallest AABB lower-bound distance.

Equal distances resolve to the earliest accepted input item. Invalid query bounds panic rather than being misreported as an evaluated empty result.

Trait Implementations

impl<K: Debug> Debug for Bvh<K>

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

Formats the value using the given formatter.

impl<K> SpatialIndex<K> for Bvh<K>

where K: Debug + Send + Sync,

fn visit_aabb( &self, query: &Aabb, visitor: &mut dyn FnMut(&K) -> ControlFlow<()>, )

Visit keys whose stored bounds overlap query. Returning Break stops.

fn visit_ray( &self, ray: &Ray3, visitor: &mut dyn FnMut(RayHit<&K>) -> ControlFlow<()>, )

Visit broad-phase ray candidates.

fn len(&self) -> usize

Number of indexed items.

fn is_empty(&self) -> bool

Whether no items are indexed.