Module point_index 

A k-d tree over a point cloud: the nearest point, the k nearest, and every point within a ball.

The same contract as Bvh: built once, immutable, shared across threads, and every answer the one brute force gives over the same points with the same arithmetic, ties going to the lowest point index. A cell is entered only if its box’s computed squared distance is no more than the best found so far, and since every axis gap to a box is at most the gap to a point in it, rounded the same way, no point a query would accept lies in a cell it skips.

Structs

Neighbour

A point a query found, by its index in the cloud.

PointIndex

A k-d tree over points, split at the median of each cell’s widest axis.