Add bvh visitor thatt allows a context to be passed to the children o…

…f a node

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 ## v0.13.7
 
+### Unreleased
+
+- Added new visitor logic to QBVH to allow parent nodes to pass a context to their children.
+
 ### Modified
 
 - The `point_in_poly2d` now handles arbitrary (convex and non-convex) polygons. The previous implementation

src/partitioning/qbvh/traversal.rs

@@ -2,7 +2,7 @@
 
 use crate::bounding_volume::{Aabb, SimdAabb};
 use crate::math::Real;
-use crate::partitioning::visitor::{SimdSimultaneousVisitStatus, SimdVisitorContext};
+use crate::partitioning::visitor::{SimdSimultaneousVisitStatus, SimdVisitorWithContext};
 use crate::partitioning::{
     GenericQbvh, QbvhStorage, SimdBestFirstVisitStatus, SimdBestFirstVisitor,
     SimdSimultaneousVisitor, SimdVisitStatus, SimdVisitor,
@@ -115,12 +115,12 @@ impl<LeafData: IndexedData, Storage: QbvhStorage<LeafData>> GenericQbvh<LeafData
     /// # Return
     ///
     /// Returns `false` if the traversal exitted early, and `true` otherwise.
-    pub fn traverse_depth_first_context<Context: Clone>(
+    pub fn traverse_depth_first_with_context<Context: Clone>(
         &self,
-        visitor: &mut impl SimdVisitorContext<LeafData, SimdAabb, Context>,
+        visitor: &mut impl SimdVisitorWithContext<LeafData, SimdAabb, Context>,
         context: Context,
     ) -> bool {
-        self.traverse_depth_first_node_with_stack_context(visitor, &mut Vec::new(), 0, context)
+        self.traverse_depth_first_node_with_stack_and_context(visitor, &mut Vec::new(), 0, context)
     }
 
     /// Performs a depth-first traversal on the BVH and propagates a context down,
@@ -130,9 +130,9 @@ impl<LeafData: IndexedData, Storage: QbvhStorage<LeafData>> GenericQbvh<LeafData
     /// # Return
     ///
     /// Returns `false` if the traversal exited early, and `true` otherwise.
-    pub fn traverse_depth_first_node_with_stack_context<Context: Clone>(
+    pub fn traverse_depth_first_node_with_stack_and_context<Context: Clone>(
         &self,
-        visitor: &mut impl SimdVisitorContext<LeafData, SimdAabb, Context>,
+        visitor: &mut impl SimdVisitorWithContext<LeafData, SimdAabb, Context>,
         stack: &mut Vec<(u32, Context)>,
         start_node: u32,
         context: Context,
@@ -152,7 +152,7 @@ impl<LeafData: IndexedData, Storage: QbvhStorage<LeafData>> GenericQbvh<LeafData
                 None
             };
 
-            let (visit_result, context) = visitor.visit(&node.simd_aabb, leaf_data, context);
+            let (visit_result, contexts) = visitor.visit(&node.simd_aabb, leaf_data, context);
             match visit_result {
                 SimdVisitStatus::ExitEarly => {
                     return false;
@@ -166,7 +166,7 @@ impl<LeafData: IndexedData, Storage: QbvhStorage<LeafData>> GenericQbvh<LeafData
                             // Un fortunately, we have this check because invalid Aabbs
                             // return a hit as well.
                             if node.children[ii] as usize <= self.nodes.len() {
-                                stack.push((node.children[ii], context.clone()));
+                                stack.push((node.children[ii], contexts[ii].clone()));
                             }
                         }
                     }

src/partitioning/visitor.rs

@@ -80,7 +80,7 @@ where
 }
 
 /// Trait implemented by visitor called during the traversal of a spatial partitioning data structure.
-pub trait SimdVisitorContext<LeafData, SimdBV, Context: Clone> {
+pub trait SimdVisitorWithContext<LeafData, SimdBV, Context: Clone> {
     /// Execute an operation on the content of a node of the spatial partitioning structure.
     ///
     /// Returns whether the traversal should continue on the node's children, if it should not continue
@@ -91,26 +91,24 @@ pub trait SimdVisitorContext<LeafData, SimdBV, Context: Clone> {
         bv: &SimdBV,
         data: Option<[Option<&LeafData>; SIMD_WIDTH]>,
         context: Context,
-    ) -> (SimdVisitStatus, Context);
+    ) -> (SimdVisitStatus, [Context; SIMD_WIDTH]);
 }
 
-impl<F, LeafData, SimdBV, Context: Clone> SimdVisitorContext<LeafData, SimdBV, Context> for F
+impl<T, LeafData, SimdBV, Context: Clone> SimdVisitorWithContext<LeafData, SimdBV, Context> for T
 where
-    F: FnMut(
-        &SimdBV,
-        Option<[Option<&LeafData>; SIMD_WIDTH]>,
-        Context,
-    ) -> (SimdVisitStatus, Context),
+    T: SimdVisitor<LeafData, SimdBV>,
 {
     fn visit(
         &mut self,
         bv: &SimdBV,
         data: Option<[Option<&LeafData>; SIMD_WIDTH]>,
         context: Context,
-    ) -> (SimdVisitStatus, Context) {
-        (self)(bv, data, context)
+    ) -> (SimdVisitStatus, [Context; SIMD_WIDTH]) {
+        let contexts = std::array::from_fn(|_| context.clone());
+        (self.visit(bv, data), contexts)
     }
 }
+
 /// Trait implemented by visitor called during a simultaneous spatial partitioning data structure tarversal.
 pub trait SimdSimultaneousVisitor<T1, T2, SimdBV> {
     /// Execute an operation on the content of two nodes, one from each structure.

src/utils/weighted_value.rs

@@ -1,5 +1,5 @@
 use crate::math::Real;
-use std::cmp::{Eq, Ord, Ordering, PartialEq, PartialOrd};
+use std::cmp::Ordering;
 
 #[derive(Copy, Clone)]
 pub struct WeightedValue<T> {