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BoundingVolumeHierarchy

This is a port of Erin Catto/box2d's b2_dynamic_tree from C++ to C# (doc here), intended for use in Unity. It's a very faithful translation with a couple of additional C# creature comforts for usability.

The code has also been adapted to work in 3D. The main difference in that regard is that I use surface area rather than perimeter as a heuristic to minimize the internal nodes.

How to Use

The object to be stored in your tree must implement the interface IBVHClientObject:

The bounds should be a tight fit around your object. For previous position, I recommend just caching the object's position every frame.

Next, create an instance of BoundingVolumeHierarchy<T> with the appropriate type parameter. Your main forms of interaction with the tree are fairly self explanatory:

Call 'update' whenever an object's position/rotation/scale/bounds changes.

The simplest form of querying the tree involves just enumerating all nodes:

Naturally there is also a raycast method: