Struct DBVTBroadPhase

pub struct DBVTBroadPhase<N: RealField + Copy, BV, T> { /* private fields */ }

Broad phase based on a Dynamic Bounding Volume Tree.

It uses two separate trees: one for static objects and which is never updated, and one for moving objects.

Implementations

impl<N, BV, T> DBVTBroadPhase<N, BV, T>

where N: RealField + Copy, BV: 'static + BoundingVolume<N> + Clone,

pub fn new(margin: N) -> DBVTBroadPhase<N, BV, T>

Creates a new broad phase based on a Dynamic Bounding Volume Tree.

pub fn num_interferences(&self) -> usize

Number of interferences detected by this broad phase.

Trait Implementations

impl<N, BV, T> BroadPhase<N, BV, T> for DBVTBroadPhase<N, BV, T>

where N: RealField + Copy, BV: BoundingVolume<N> + RayCast<N> + PointQuery<N> + Any + Send + Sync + Clone, T: Any + Send + Sync + Clone,

fn proxy(&self, handle: BroadPhaseProxyHandle) -> Option<(&BV, &T)>

Retrieves the bounding volume and data associated to the given proxy.

fn first_interference_with_ray<'a, 'b>( &'a self, ray: &'b Ray<N>, max_toi: N, cost_fn: &'a dyn Fn(T, &'b Ray<N>, N) -> Option<(T, RayIntersection<N>)>, ) -> Option<(T, RayIntersection<N>)>

Returns the first object that interferes with a ray.

fn update(&mut self, handler: &mut dyn BroadPhaseInterferenceHandler<T>)

Updates the object additions, removals, and interferences detection.

fn create_proxy(&mut self, bv: BV, data: T) -> BroadPhaseProxyHandle

Tells the broad phase to add a bounding-volume at the next update.

fn remove( &mut self, handles: &[BroadPhaseProxyHandle], handler: &mut dyn FnMut(&T, &T), )

Tells the broad phase to remove the given set of handles.

fn deferred_set_bounding_volume( &mut self, handle: BroadPhaseProxyHandle, bounding_volume: BV, )

Sets the next bounding volume to be used during the update of this broad phase.

fn deferred_recompute_all_proximities_with( &mut self, handle: BroadPhaseProxyHandle, )

Forces the broad-phase to recompute and re-report all the proximities with the given object.

fn deferred_recompute_all_proximities(&mut self)

Forces the broad-phase to recompute and re-report all the proximities.

fn interferences_with_bounding_volume<'a>( &'a self, bv: &BV, out: &mut Vec<&'a T>, )

Collects every object which might intersect a given bounding volume.

fn interferences_with_ray<'a>( &'a self, ray: &Ray<N>, max_toi: N, out: &mut Vec<&'a T>, )

Collects every object which might intersect a given ray.

fn interferences_with_point<'a>( &'a self, point: &Point<N>, out: &mut Vec<&'a T>, )

Collects every object which might contain a given point.