feat: Sprint 8 收尾 — KD-Tree/OcTree ray query + mesh QEM 完善

2026-07-23 14:08:34 +00:00
parent c4f7407143
commit 762ca66ee3
5 changed files with 738 additions and 135 deletions
@@ -24,10 +24,18 @@ public:
    std::vector<T> query_ray(const Ray3Dd& ray) const override;
    void clear() override;
    size_t size() const override;
+
 private:
    void insert_recursive(int node_idx, const T& item, int depth);
    void subdivide_recursive(int node_idx, int depth);
-    void query_range_recursive(int node_idx, const AABB3D& range, std::vector<T>& result) const;
+    void query_range_recursive(int node_idx, const AABB3D& range,
+                               std::vector<T>& result) const;
+    void query_ray_recursive(int node_idx, const Ray3Dd& ray,
+                             std::vector<T>& result) const;
+
+    /// Item position helper (for non-Point3D types)
+    static Point3D get_position(const T& item);
+
    std::shared_ptr<OctreeData<T>> data_;
    int max_depth_, max_items_;
 };