void Octree::_FattenedRayLookup(int nindex,const Ray3D& ray,Real radius,vector<int>& nodeindices) const
{
const OctreeNode& node = nodes[nindex];
//this is kinda slower than it needs to be... can determine intersecting
//children directly without testing all bb's
if(IsLeaf(node)) {
//fine grained test
if(ray.distance(node.bb) <= radius)
nodeindices.push_back(nindex);
}
else {
vector<pair<Real,int> > children;
for(int i=0;i<8;i++) {
Real tmin = 0;
Real tmax = Inf;
AABB3D fattened = nodes[node.childIndices[i]].bb;
fattened.bmin -= Vector3(radius);
fattened.bmax += Vector3(radius);
if(ray.intersects(fattened,tmin,tmax))
children.push_back(pair<Real,int>(tmin,node.childIndices[i]));
}
//loop through children, sorted by distance
sort(children.begin(),children.end());
for(size_t i=0;i<children.size();i++)
_FattenedRayLookup(children[i].second,ray,radius,nodeindices);
}
}
