CollisionHandler.h:

* BVH_Node now has a working build() function that does it top-down using centroids.
* CollisionHandler::rebuild_AABB_bvh() is now implemented.

Dynamics/CollisionHandler.h

@@ -13,13 +13,73 @@
 
 namespace dynamics
 {
-
+  
   struct BVH_Node
   {
     AABB<float> aabb;
-    RC centroid;
     RigidBody* rigid_body = nullptr;
     std::vector<std::unique_ptr<BVH_Node>> children;
+
+    // Recursive build function
+    void build(const AABB<float>& aabb_parent, std::vector<RigidBody*> rigid_bodies)
+    {
+      aabb = aabb_parent;
+
+      // Base case: If there's only one body, this node becomes a leaf node
+      if (rigid_bodies.size() <= 1)
+      {
+        rigid_body = rigid_bodies.empty() ? nullptr : rigid_bodies[0];
+        return;
+      }
+
+      // Calculate centroid AABB to determine split axis
+      AABB<float> centroid_aabb;
+      for (const auto* rb : rigid_bodies)
+        centroid_aabb.add_point(rb->get_curr_centroid());
+      int split_axis = centroid_aabb.width() > centroid_aabb.height() ? 1 : 0;
+
+      // Sort bodies by centroid on the chosen axis and split in half
+      auto it_mid = rigid_bodies.begin() + rigid_bodies.size() / 2;
+      std::nth_element(rigid_bodies.begin(), it_mid, rigid_bodies.end(),
+                       [split_axis](const RigidBody* a, const RigidBody* b)
+      {
+        return split_axis == 0 ?
+          a->get_curr_centroid().r < b->get_curr_centroid().r :
+          a->get_curr_centroid().c < b->get_curr_centroid().c;
+      });
+
+      // Divide into two subsets
+      std::vector<RigidBody*> left_bodies(rigid_bodies.begin(), it_mid);
+      std::vector<RigidBody*> right_bodies(it_mid, rigid_bodies.end());
+
+      // Define child AABBs for split axis
+      if (split_axis == 0) // Horizontal split
+      {
+        float mid_r = (*it_mid)->get_curr_centroid().r;
+        AABB<float> left_aabb = { aabb.p0().first, aabb.p0().second, mid_r, aabb.width() };
+        AABB<float> right_aabb = { mid_r, aabb.p0().second, aabb.p1().first, aabb.width() };
+
+        // Create left and right children and build recursively
+        auto& ch0 = children.emplace_back(std::make_unique<BVH_Node>());
+        ch0->build(left_aabb, left_bodies);
+
+        auto& ch1 = children.emplace_back(std::make_unique<BVH_Node>());
+        ch1->build(right_aabb, right_bodies);
+      }
+      else // Vertical split
+      {
+        float mid_c = (*it_mid)->get_curr_centroid().c;
+        AABB<float> left_aabb = { aabb.p0().first, aabb.p0().second, aabb.height(), mid_c };
+        AABB<float> right_aabb = { aabb.p0().first, mid_c, aabb.height(), aabb.p1().second };
+
+        // Create left and right children and build recursively
+        auto& ch0 = children.emplace_back(std::make_unique<BVH_Node>());
+        ch0->build(left_aabb, left_bodies);
+
+        auto& ch1 = children.emplace_back(std::make_unique<BVH_Node>());
+        ch1->build(right_aabb, right_bodies);
+      }
+    }
   };
 
   class CollisionHandler
@@ -36,7 +96,11 @@ namespace dynamics
                           const DynamicsSystem* dyn_sys)
     {
       m_aabb_bvh->children.clear();
-      m_aabb_bvh->aabb = { 0.f, 0.f, static_cast<float>(NR), static_cast<float>(NC) };
+      auto NRf = static_cast<float>(NR);
+      auto NCf = static_cast<float>(NC);
+      AABB<float> aabb { 0.f, 0.f, NRf, NCf };
+      auto rigid_bodies = dyn_sys->get_rigid_bodies_raw();
+      m_aabb_bvh->build(aabb, rigid_bodies);
     }
 
     void update_detection()