feat: 测试覆盖扩展 + 文档更新

include/vde/spatial/r_tree.h

@@ -1,6 +1,8 @@
 #pragma once
 #include "vde/spatial/spatial_index.h"
 #include "vde/core/aabb.h"
+#include <queue>
+#include <limits>
 
 namespace vde::spatial {
 using core::Point3D;
@@ -8,6 +10,15 @@ using core::Vector3D;
 using core::Ray3Dd;
 using core::Triangle3D;
 
+template <typename T>
+struct RTreeNode {
+    AABB3D bbox;
+    bool is_leaf = true;
+    std::vector<size_t> children;      // internal: indices into nodes_
+    std::vector<size_t> item_indices;  // leaf: indices into items_
+    size_t parent = static_cast<size_t>(-1);
+};
+
 template <typename T>
 class RTree : public SpatialIndex<T> {
 public:
@@ -19,9 +30,16 @@ public:
     std::vector<T> query_ray(const Ray3Dd& ray) const override;
     void clear() override;
     size_t size() const override { return count_; }
+    size_t node_count() const { return nodes_.size(); }
+
 private:
+    void query_range_recursive(size_t node_idx, const AABB3D& range,
+                               std::vector<T>& result) const;
+
     std::vector<T> items_;
-    std::vector<AABB3D> bounds_;
+    std::vector<AABB3D> item_bounds_;
+    std::vector<RTreeNode<T>> nodes_;
+    size_t root_idx_ = 0;
     size_t count_ = 0;
 };