void OctreePointSet::BoxQuery(const Box3D& b,vector<Vector3>& points,vector<int>& ids) const
{
points.resize(0);
ids.resize(0);
vector<int> boxnodes;
BoxLookup(b,boxnodes);
for(size_t i=0;i<boxnodes.size();i++) {
const vector<Vector3>& pts = pointLists[boxnodes[i]];
const vector<int>& bids = idLists[boxnodes[i]];
for(size_t k=0;k<pts.size();k++)
if(b.contains(pts[k])) {
points.push_back(pts[k]);
ids.push_back(bids[k]);
}
}
}
