Struct BroadPhaseBvh 

pub struct BroadPhaseBvh { /* private fields */ }

The broad-phase collision detector that quickly filters out distant object pairs.

The broad-phase is the “first pass” of collision detection. It uses a hierarchical bounding volume tree (BVH) to quickly identify which collider pairs are close enough to potentially collide, avoiding expensive narrow-phase checks for distant objects.

Think of it as a “spatial index” that answers: “Which objects are near each other?”

You typically don’t interact with this directly - it’s managed by PhysicsPipeline. However, you can use it to create a QueryPipeline for spatial queries.

Implementations

impl BroadPhaseBvh

pub fn new() -> Self

Initializes a new empty broad-phase.

pub fn with_optimization_strategy( optimization_strategy: BvhOptimizationStrategy, ) -> Self

Initializes a new empty broad-phase with the specified strategy for incremental BVH optimization.

pub fn update( &mut self, params: &IntegrationParameters, colliders: &ColliderSet, bodies: &RigidBodySet, modified_colliders: &[ColliderHandle], removed_colliders: &[ColliderHandle], events: &mut Vec<BroadPhasePairEvent>, )

Updates the broad-phase.

The results are output through the events struct. The broad-phase algorithm is only required to generate new events (i.e. no need to re-send an AddPair event if it was already sent previously and no RemovePair happened since then). Sending redundant events is allowed but can result in a slight computational overhead.

Parameters

• params: the integration parameters governing the simulation.
• colliders: the set of colliders. Change detection with collider.needs_broad_phase_update() can be relied on at this stage.
• modified_colliders: colliders that are know to be modified since the last update.
• removed_colliders: colliders that got removed since the last update. Any associated data in the broad-phase should be removed by this call to update.
• events: the broad-phase’s output. They indicate what collision pairs need to be created and what pairs need to be removed. It is OK to create pairs for colliders that don’t actually collide (though this can increase computational overhead in the narrow-phase) but it is important not to indicate removal of a collision pair if the underlying colliders are still touching or closer than prediction_distance.

pub fn set_aabb( &mut self, params: &IntegrationParameters, handle: ColliderHandle, aabb: Aabb, )

Sets the AABB associated to the given collider.

The AABB change will be immediately applied and propagated through the underlying BVH. Change detection will automatically take it into account during the next broad-phase update.

impl BroadPhaseBvh

pub fn as_query_pipeline<'a>( &'a self, dispatcher: &'a dyn QueryDispatcher, bodies: &'a RigidBodySet, colliders: &'a ColliderSet, filter: QueryFilter<'a>, ) -> QueryPipeline<'a>

Initialize a QueryPipeline for scene queries from this broad-phase.

pub fn as_query_pipeline_mut<'a>( &'a self, dispatcher: &'a dyn QueryDispatcher, bodies: &'a mut RigidBodySet, colliders: &'a mut ColliderSet, filter: QueryFilter<'a>, ) -> QueryPipelineMut<'a>

Initialize a QueryPipelineMut for scene queries from this broad-phase.

Trait Implementations

impl Clone for BroadPhaseBvh

fn clone(&self) -> BroadPhaseBvh

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Default for BroadPhaseBvh

fn default() -> BroadPhaseBvh

Returns the “default value” for a type.