<commit_before>﻿// Copyright(C) <NAME>, 2014, and released to the public domain. 
//
// Dynamic BVH (Bounding Volume Hierarchy) using incremental refit and tree-rotations
//
// initial BVH build based on: Bounding Volume Hierarchies (BVH) – A brief tutorial on what they are and how to implement them
//              http://www.3dmuve.com/3dmblog/?p=182
//
// Dynamic Updates based on: "Fast, Effective BVH Updates for Animated Scenes" (Kopta, Ize, Spjut, Brunvand, David, Kensler)
//              http://www.cs.utah.edu/~thiago/papers/rotations.pdf
//
// see also:  Space Partitioning: Octree vs. BVH
//            http://thomasdiewald.com/blog/?p=1488
//
// TODO: pick the best axis to split based on SAH, instead of the biggest
// TODO: Switch SAH comparisons to use (SAH(A) * itemCount(A)) currently it just uses SAH(A)
// TODO: when inserting, compare parent node SAH(A) * itemCount to sum of children, to see if it is better to not split at all
// TODO: implement node merge/split, to handle updates when LEAF_OBJ_MAX > 1
// 

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

using System.Diagnostics;

using OpenTK;

namespace SimpleScene.Util.ssBVH
{
    public class ssBVHNode<GO> {<commit_msg>todo item<commit_after>﻿// Copyright(C) <NAME>, 2014, and released to the public domain. 
//
// Dynamic BVH (Bounding Volume Hierarchy) using incremental refit and tree-rotations
//
// initial BVH build based on: Bounding Volume Hierarchies (BVH) – A brief tutorial on what they are and how to implement them
//              http://www.3dmuve.com/3dmblog/?p=182
//
// Dynamic Updates based on: "Fast, Effective BVH Updates for Animated Scenes" (Kopta, Ize, Spjut, Brunvand, <NAME>)
//              http://www.cs.utah.edu/~thiago/papers/rotations.pdf
//
// see also:  Space Partitioning: Octree vs. BVH
//            http://thomasdiewald.com/blog/?p=1488
//
// TODO: pick the best axis to split based on SAH, instead of the biggest
// TODO: Switch SAH comparisons to use (SAH(A) * itemCount(A)) currently it just uses SAH(A)
// TODO: when inserting, compare parent node SAH(A) * itemCount to sum of children, to see if it is better to not split at all
// TODO: implement node merge/split, to handle updates when LEAF_OBJ_MAX > 1
// 
// TODO: implement SBVH spacial splits
//        http://www.nvidia.com/docs/IO/77714/sbvh.pdf

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

using System.Diagnostics;

using OpenTK;

namespace SimpleScene.Util.ssBVH
{
    public class ssBVHNode<GO> {
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