Table of Contents Why Broad-Phase Exists (and why naive O(N²) dies at 10k objects) Bounding Volume Hierarchy: The Data Structure That Scales Topology Choices: Binary vs. Multi-Branch, Pointer vs. Array Layout Construction Algorithms: From Naive to SAH-Optimal Traversal Strategies for Collision Queries The Static/Dynamic Dichotomy: Why One Tree Cannot Serve Two Masters The Dual-BVH Architecture Preview 1. Why Broad-Phase Exists The Pairwise Pr...