Initial work on adding KdTree support for PolytopeIntersector.

include/osg/KdTree

@@ -158,6 +158,32 @@ class OSG_EXPORT KdTree : public osg::Shape
         TriangleList& getTriangles() { return _triangles; }
         const TriangleList& getTriangles() const { return _triangles; }
 
+        template<class IntersectFunctor>
+        void intersect(IntersectFunctor& functor, const KdNode& node) const
+        {
+            if (node.first<0)
+            {
+                // treat as a leaf
+                int istart = -node.first-1;
+                int iend = istart + node.second;
+
+                for(int i=istart; i<iend; ++i)
+                {
+                    const KdTree::Triangle& tri = _triangles[i];
+
+                    // OSG_NOTICE<<"   tri("<<tri.p1<<","<<tri.p2<<","<<tri.p3<<")"<<std::endl;
+
+                    functor.intersect(_vertices.get(), i, tri.p0, tri.p1, tri.p2);
+                }
+            }
+            else if (functor.intersect(node.bb))
+            {
+                if (node.first>0) intersect(functor, _kdNodes[node.first]);
+                if (node.second>0) intersect(functor, _kdNodes[node.second]);
+            }
+        }
+
+
 
     protected:
 

include/osg/Polytope

@@ -358,6 +358,9 @@ class OSG_EXPORT Polytope
             return true;
         }
 
+        /** Check whether any part of a triangle is contained within the polytope.*/
+        bool contains(const osg::Vec3f& v0, const osg::Vec3f& v1, const osg::Vec3f& v2) const;
+
 
         /** Transform the clipping set by matrix.  Note, this operations carries out
           * the calculation of the inverse of the matrix since a plane must

include/osgUtil/PolytopeIntersector

@@ -44,6 +44,13 @@ class OSGUTIL_EXPORT PolytopeIntersector : public Intersector
           * In VIEW and MODEL coordinates (clip space cube) creates a five sided polytope box that has a front face at 0.0 and sides around box xMin, yMin, xMax, yMax.*/
         PolytopeIntersector(CoordinateFrame cf, double xMin, double yMin, double xMax, double yMax);
 
+        /** Get the Polytope used by the intersector.*/
+        osg::Polytope& getPolytope() { return _polytope;}
+
+        /** Get the const Polytope used by the intersector.*/
+        const osg::Polytope& getPolytope() const { return _polytope;}
+
+
         typedef osg::Plane::Vec3_type Vec3_type;
 
         struct Intersection