novaphy.SweepAndPrune

Sweep-and-Prune broadphase collision detector. NovaPhy's only Python- exposed broadphase today (BVH and AllPairs exist in C++ but are not bound). Newton's equivalent class is named BroadPhaseSAP.

Constructor

SweepAndPrune()

Methods

Method	Description
update(body_aabbs, static_mask)	Update overlap candidates from current world-space AABBs. static_mask[i] == True marks body i as static, so static-static pairs are pruned.
get_pairs()	Return the latest list of BroadPhasePair entries.

Example

import novaphy

sap = novaphy.SweepAndPrune()

# Build per-body AABBs (e.g. from CollisionShape.compute_aabb).
sap.update(world_aabbs, static_mask=[False] * len(world_aabbs))

pairs = sap.get_pairs()
print(len(pairs), "candidate overlap pairs")

Notes

• update re-sorts the endpoint lists internally; you can call it every frame without rebuilding state.
• For full simulation use, prefer CollisionPipeline — it wires SaP and the narrowphase together with the broadphase already configured on the bound model.

See Also

• BroadPhasePair
• CollisionPipeline