kd_tree.h

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#pragma once
#include "vde/spatial/spatial_index.h"
#include <vector>
 
namespace vde::spatial {
using core::AABB3D;
using core::Point3D;
using core::Vector3D;
using core::Ray3Dd;
using core::Triangle3D;
 
template <typename T>
class KDTree : public SpatialIndex<T> {
public:
    void build(const std::vector<T>& items) override;
 
    void insert(const T& item) override;
 
    bool remove(const T& item) override;
 
    std::vector<T> query_range(const AABB3D& range) const override;
 
    std::vector<T> query_knn(const Point3D& point, size_t k) const override;
 
    std::vector<T> query_ray(const Ray3Dd& ray) const override;
 
    void clear() override;
 
    size_t size() const override { return items_.size(); }
 
private:
    struct Node {
        AABB3D bounds;       
        int item_idx = -1;   
        int split_axis = 0;  
        int left = -1;       
        int right = -1;      
    };
 
    std::vector<T> items_;            
    std::vector<Node> nodes_;         
    int root_ = -1;                   
    static Point3D get_position(const T& item);
 
    static AABB3D get_aabb(const T& item);
 
    static bool ray_hits_item(const T& item, const Ray3Dd& ray);
 
    int build_recursive(int start, int end);
 
    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;
};
 
}  // namespace vde::spatial