BroadphaseTree.hpp File Reference

Dynamic AABB tree for O(log n) overlap queries. More...

#include "ecs/physics/SweptCollision.hpp"
#include <cstdint>
#include <entt/entt.hpp>
#include <functional>
#include <glm/vec3.hpp>
#include <vector>

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Classes
struct	physics::broadphase::Proxy
	Stable handle to a tree leaf. More...
class	physics::broadphase::Tree
	Dynamic AABB tree. More...
struct	physics::broadphase::Tree::Node

Namespaces
namespace	physics
	Pure physics math — no ECS types, no registry.
namespace	physics::broadphase

Detailed Description

Dynamic AABB tree for O(log n) overlap queries.

Box2D-style b2DynamicTree: a binary tree of "fat" AABBs (padded by a margin so small movements don't require re-insertion). Each leaf stores a stable Proxy handle plus user data (an entt::entity). Internal nodes track the union AABB of their children.

Operations.

• insertProxy(aabb, entity) → returns a Proxy handle.
• updateProxy(p, newAabb) → re-positions if it left its fat AABB.
• removeProxy(p) → destroys the leaf.
• queryAABB(aabb, visit) → calls visit(entity) for every overlapping leaf.
• raycast(origin, dir, maxT, visit) → calls visit for every leaf the ray segment intersects (Slab test).

Determinism. Tree topology depends on insertion order; for reproducible behaviour, callers insert proxies in stable entity-id order (see Phase 15 audit checklist).

Memory. Nodes are stored in a pool indexed by 32-bit ids; the free list reuses slots so capacity stays bounded.