1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
// std
use std::sync::Arc;
// pbrt
use crate::core::geometry::bnd3_union_bnd3f;
use crate::core::geometry::{Bounds3f, Ray, Vector3f, XYZEnum};
use crate::core::interaction::SurfaceInteraction;
use crate::core::light::Light;
use crate::core::material::Material;
use crate::core::paramset::ParamSet;
use crate::core::pbrt::log_2_int_i32;
use crate::core::pbrt::Float;
use crate::core::primitive::Primitive;

pub const MAX_TODO: usize = 64;

#[repr(C)]
union PrivateUnion {
    split: Float,
    one_primitive: i32,
    primitive_indices_offset: i32,
}

#[repr(C)]
pub union PublicUnion {
    pub flags: i32,
    pub n_prims: i32,
    pub above_child: i32,
}

#[derive(Copy, Clone, Default)]
pub struct KdToDo<'n> {
    pub node: Option<&'n KdAccelNode>,
    pub idx: usize,
    pub t_min: Float,
    pub t_max: Float,
}

pub struct KdAccelNode {
    priv_union: PrivateUnion,
    pub pub_union: PublicUnion,
}

impl KdAccelNode {
    pub fn init_leaf(&mut self, prim_nums: &[usize], np: usize, primitive_indices: &mut Vec<i32>) {
        self.pub_union.flags = 3;
        let n_prims: i32;
        unsafe {
            n_prims = self.pub_union.n_prims;
        }
        self.pub_union.n_prims = n_prims | ((np as i32) << 2);
        // store primitive ids for leaf node
        match np {
            0 => self.priv_union.one_primitive = 0_i32,
            1 => self.priv_union.one_primitive = prim_nums[0] as i32,
            _ => {
                self.priv_union.primitive_indices_offset = primitive_indices.len() as i32;
                for item in prim_nums.iter().take(np) {
                    primitive_indices.push(*item as i32);
                }
            }
        }
    }
    pub fn init_interior(&mut self, axis: i32, ac: i32, s: Float) {
        self.priv_union.split = s;
        self.pub_union.flags = axis;
        let above_child: i32;
        unsafe {
            above_child = self.pub_union.above_child;
        }
        self.pub_union.above_child = above_child | (ac << 2);
    }
    pub fn split_pos(&self) -> Float {
        let split: Float;
        unsafe {
            split = self.priv_union.split;
        }
        split
    }
    pub fn n_primitives(&self) -> i32 {
        let n_prims: i32;
        unsafe {
            n_prims = self.pub_union.n_prims;
        }
        n_prims >> 2
    }
    pub fn split_axis(&self) -> i32 {
        let flags: i32;
        unsafe {
            flags = self.pub_union.flags;
        }
        flags & 3
    }
    pub fn is_leaf(&self) -> bool {
        let flags: i32;
        unsafe {
            flags = self.pub_union.flags;
        }
        (flags & 3) == 3
    }
    pub fn above_child(&self) -> i32 {
        let above_child: i32;
        unsafe {
            above_child = self.pub_union.above_child;
        }
        above_child >> 2
    }
}

#[derive(Debug, PartialEq, PartialOrd)]
pub enum EdgeType {
    Start = 0,
    End = 1,
}

#[derive(Debug)]
pub struct BoundEdge {
    pub t: Float,
    pub prim_num: usize,
    pub edge_type: EdgeType,
}

impl BoundEdge {
    pub fn new(t: Float, prim_num: usize, starting: bool) -> Self {
        let edge_type = if starting {
            EdgeType::Start
        } else {
            EdgeType::End
        };
        BoundEdge {
            t,
            prim_num,
            edge_type,
        }
    }
}

impl Default for BoundEdge {
    fn default() -> Self {
        BoundEdge {
            t: 0.0 as Float,
            prim_num: 0_usize,
            edge_type: EdgeType::Start,
        }
    }
}

pub struct KdTreeAccel {
    pub isect_cost: i32,
    pub traversal_cost: i32,
    pub max_prims: i32,
    pub empty_bonus: Float,
    pub primitives: Vec<Arc<Primitive>>,
    pub primitive_indices: Vec<i32>,
    pub nodes: Vec<KdAccelNode>,
    pub n_alloced_nodes: i32,
    pub next_free_node: i32,
    pub bounds: Bounds3f,
}

impl KdTreeAccel {
    pub fn new(
        p: Vec<Arc<Primitive>>,
        isect_cost: i32,
        traversal_cost: i32,
        empty_bonus: Float,
        max_prims: i32,
        max_depth: i32,
    ) -> Self {
        let p_len: usize = p.len();
        let mut max_depth: i32 = max_depth;
        let mut bounds: Bounds3f = Bounds3f::default();
        // build kd-tree for accelerator
        let n_alloced_nodes: i32 = 0;
        let next_free_node: i32 = 0;
        if max_depth <= 0 {
            max_depth =
                (8.0 as Float + 1.3 as Float * log_2_int_i32(p_len as i32) as Float).round() as i32;
        }
        // compute bounds for kd-tree construction
        let mut prim_bounds: Vec<Bounds3f> = Vec::with_capacity(p_len);
        for item in p.iter().take(p_len) {
            let b: Bounds3f = item.world_bound();
            bounds = bnd3_union_bnd3f(&bounds, &b);
            prim_bounds.push(b);
        }
        // allocate working memory for kd-tree construction
        let mut edges: [Vec<BoundEdge>; 3] = [
            Vec::with_capacity(2 * p_len),
            Vec::with_capacity(2 * p_len),
            Vec::with_capacity(2 * p_len),
        ];
        let mut prims0: Vec<usize> = Vec::with_capacity(p_len);
        let mut prims1: Vec<usize> = Vec::with_capacity((max_depth + 1) as usize * p_len);
        for _i in 0..((max_depth + 1) as usize * p_len) {
            prims1.push(0_usize);
        }
        // initialize _prim_nums_ for kd-tree construction
        let mut prim_nums: Vec<usize> = Vec::with_capacity(p_len);
        for i in 0..p_len {
            prims0.push(0_usize);
            prim_nums.push(i);
            // init all three edges Vecs
            edges[0].push(BoundEdge::default());
            edges[0].push(BoundEdge::default());
            edges[1].push(BoundEdge::default());
            edges[1].push(BoundEdge::default());
            edges[2].push(BoundEdge::default());
            edges[2].push(BoundEdge::default());
        }
        // start recursive construction of kd-tree
        let mut kd_tree: KdTreeAccel = KdTreeAccel {
            isect_cost,
            traversal_cost,
            max_prims,
            empty_bonus,
            primitives: p,
            primitive_indices: Vec::new(),
            nodes: Vec::new(),
            n_alloced_nodes,
            next_free_node,
            bounds,
        };
        KdTreeAccel::build_tree(
            &mut kd_tree,
            0 as i32,
            &bounds,
            &prim_bounds,
            &prim_nums[..],
            p_len,
            max_depth,
            &mut edges,
            &mut prims0[..],
            &mut prims1[..],
            0, // bad_refines
        );
        kd_tree
    }
    pub fn create(prims: Vec<Arc<Primitive>>, ps: &ParamSet) -> Primitive {
        let isect_cost: i32 = ps.find_one_int("intersectcost", 80);
        let trav_cost: i32 = ps.find_one_int("traversalcost", 1);
        let empty_bonus: Float = ps.find_one_float("emptybonus", 0.5 as Float);
        let max_prims: i32 = ps.find_one_int("maxprims", 1);
        let max_depth: i32 = ps.find_one_int("maxdepth", -1);
        Primitive::KdTree(Box::new(KdTreeAccel::new(
            prims,
            isect_cost,
            trav_cost,
            empty_bonus,
            max_prims,
            max_depth,
        )))
    }
    pub fn build_tree(
        &mut self,
        node_num: i32,
        node_bounds: &Bounds3f,
        all_prim_bounds: &[Bounds3f],
        prim_nums: &[usize],
        n_primitives: usize,
        depth: i32,
        edges: &mut [Vec<BoundEdge>; 3],
        prims0: &mut [usize],
        prims1: &mut [usize],
        bad_refines: i32,
    ) {
        let mut bad_refines: i32 = bad_refines;
        assert_eq!(node_num, self.next_free_node);
        if self.next_free_node == self.n_alloced_nodes {
            let n_new_alloc_nodes: i32 = std::cmp::max(2 * self.n_alloced_nodes, 512);
            if self.n_alloced_nodes > 0 {
                self.nodes
                    .resize_with(n_new_alloc_nodes as usize, || KdAccelNode {
                        priv_union: PrivateUnion {
                            one_primitive: 0_i32,
                        },
                        pub_union: PublicUnion { flags: 0_i32 },
                    });
            } else {
                let mut n: Vec<KdAccelNode> = Vec::with_capacity(n_new_alloc_nodes as usize);
                for _i in 0..n_new_alloc_nodes as usize {
                    n.push(KdAccelNode {
                        priv_union: PrivateUnion {
                            one_primitive: 0_i32,
                        },
                        pub_union: PublicUnion { flags: 0_i32 },
                    });
                }
                self.nodes = n;
            }
            self.n_alloced_nodes = n_new_alloc_nodes;
        }
        self.next_free_node += 1;
        // initialize leaf node if termination criteria met
        if n_primitives <= self.max_prims as usize || depth == 0 {
            self.nodes[node_num as usize].init_leaf(
                prim_nums,
                n_primitives,
                &mut self.primitive_indices,
            );
            return;
        }
        // choose split axis position for interior node
        let mut best_axis: i32 = -1;
        let mut best_axis_i: XYZEnum = match best_axis {
            0 => XYZEnum::X,
            1 => XYZEnum::Y,
            _ => XYZEnum::Z,
        };
        let mut best_offset: i32 = -1;
        let mut best_cost: Float = std::f32::INFINITY;
        let old_cost: Float = self.isect_cost as Float * n_primitives as Float;
        let total_sa: Float = node_bounds.surface_area();
        let inv_total_sa: Float = 1.0 as Float / total_sa;
        let d: Vector3f = node_bounds.p_max - node_bounds.p_min;
        // choose which axis to split along
        let mut axis: u8 = node_bounds.maximum_extent();
        let mut axis_i: XYZEnum = match axis {
            0 => XYZEnum::X,
            1 => XYZEnum::Y,
            _ => XYZEnum::Z,
        };
        let mut retries: u8 = 0;
        // avoid 'goto retrySplit;'
        loop {
            // trim edges to 2 * n_primitives
            edges[axis as usize].resize_with(2 * n_primitives, BoundEdge::default);
            // initialize edges for _axis_
            for (i, item) in prim_nums.iter().enumerate().take(n_primitives) {
                let pn: usize = *item;
                let bounds: &Bounds3f = &all_prim_bounds[pn];
                edges[axis as usize][2 * i] = BoundEdge::new(bounds.p_min[axis_i], pn, true);
                edges[axis as usize][2 * i + 1] = BoundEdge::new(bounds.p_max[axis_i], pn, false);
            }
            // sort _edges_ for _axis_
            edges[axis as usize].sort_unstable_by(|e0, e1| {
                if e0.t == e1.t {
                    e0.edge_type.partial_cmp(&e1.edge_type).unwrap()
                } else {
                    e0.t.partial_cmp(&e1.t).unwrap()
                }
            });
            // for i in 0..n_primitives {
            //     println!("{:?}", edges[axis as usize][2 * i]);
            //     println!("{:?}", edges[axis as usize][2 * i + 1]);
            // }

            // compute cost of all splits for _axis_ to find best
            let mut n_below: usize = 0;
            let mut n_above: usize = n_primitives;
            for i in 0..(2 * n_primitives) {
                if edges[axis as usize][i].edge_type == EdgeType::End {
                    n_above -= 1;
                }
                let edge_t: Float = edges[axis as usize][i].t;
                if edge_t > node_bounds.p_min[axis_i] && edge_t < node_bounds.p_max[axis_i] {
                    // compute cost for split at _i_th edge

                    // compute child surface areas for split at _edge_t_
                    let other_axis_0: u8 = (axis + 1) % 3;
                    let other_axis_1: u8 = (axis + 2) % 3;
                    let other_axis_0_i: XYZEnum = match other_axis_0 {
                        0 => XYZEnum::X,
                        1 => XYZEnum::Y,
                        _ => XYZEnum::Z,
                    };
                    let other_axis_1_i: XYZEnum = match other_axis_1 {
                        0 => XYZEnum::X,
                        1 => XYZEnum::Y,
                        _ => XYZEnum::Z,
                    };
                    let below_sa: Float = 2.0 as Float
                        * (d[other_axis_0_i] * d[other_axis_1_i]
                            + (edge_t - node_bounds.p_min[axis_i])
                                * (d[other_axis_0_i] + d[other_axis_1_i]));
                    let above_sa: Float = 2.0 as Float
                        * (d[other_axis_0_i] * d[other_axis_1_i]
                            + (node_bounds.p_max[axis_i] - edge_t)
                                * (d[other_axis_0_i] + d[other_axis_1_i]));
                    let p_below: Float = below_sa * inv_total_sa;
                    let p_above: Float = above_sa * inv_total_sa;
                    let eb = if n_above == 0 || n_below == 0 {
                        self.empty_bonus
                    } else {
                        0.0 as Float
                    };
                    let cost: Float = self.traversal_cost as Float
                        + self.isect_cost as Float
                            * (1.0 as Float - eb)
                            * (p_below * n_below as Float + p_above * n_above as Float);
                    // update best split if this is lowest cost so far
                    if cost < best_cost {
                        best_cost = cost;
                        best_axis = axis as i32;
                        best_axis_i = match best_axis {
                            0 => XYZEnum::X,
                            1 => XYZEnum::Y,
                            _ => XYZEnum::Z,
                        };
                        best_offset = i as i32;
                    }
                }
                if edges[axis as usize][i].edge_type == EdgeType::Start {
                    n_below += 1;
                }
            }
            assert!(
                n_below == n_primitives && n_above == 0,
                "{} == {}? && {} == 0?",
                n_below,
                n_primitives,
                n_above
            );
            // create leaf if no good splits were found
            if best_axis == -1 && retries < 2 {
                retries += 1;
                axis = (axis + 1) % 3;
                axis_i = match axis {
                    0 => XYZEnum::X,
                    1 => XYZEnum::Y,
                    _ => XYZEnum::Z,
                };
            // goto retrySplit;
            } else {
                break;
            }
        }
        if best_cost > old_cost {
            bad_refines += 1;
        }
        if (best_cost > 4.0 as Float * old_cost && n_primitives < 16)
            || best_axis == -1
            || bad_refines == 3
        {
            self.nodes[node_num as usize].init_leaf(
                prim_nums,
                n_primitives,
                &mut self.primitive_indices,
            );
            return;
        }
        // classify primitives with respect to split
        let mut n0: usize = 0;
        let mut n1: usize = 0;
        for i in 0..best_offset as usize {
            if edges[best_axis as usize][i].edge_type == EdgeType::Start {
                prims0[n0] = edges[best_axis as usize][i].prim_num;
                n0 += 1;
            }
        }
        for i in ((best_offset + 1) as usize)..(2 * n_primitives) {
            if edges[best_axis as usize][i].edge_type == EdgeType::End {
                prims1[n1] = edges[best_axis as usize][i].prim_num;
                n1 += 1;
            }
        }
        // recursively initialize children nodes
        let t_split: Float = edges[best_axis as usize][best_offset as usize].t;
        let mut bounds0: Bounds3f = *node_bounds;
        let mut bounds1: Bounds3f = *node_bounds;
        bounds0.p_max[best_axis_i] = t_split;
        bounds1.p_min[best_axis_i] = t_split;
        // copy prims0
        let mut prim_nums: Vec<usize> = Vec::with_capacity(prims0.len());
        for i in 0..prims0.len() {
            prim_nums.push(prims0[i]);
        }
        self.build_tree(
            node_num + 1,
            &bounds0,
            all_prim_bounds,
            &prim_nums[..],
            n0,
            depth - 1,
            edges,
            prims0,
            &mut prims1[n_primitives..],
            bad_refines,
        );
        let above_child: i32 = self.next_free_node;
        self.nodes[node_num as usize].init_interior(best_axis, above_child, t_split);
        // copy prims1
        let mut prim_nums: Vec<usize> = Vec::with_capacity(prims1.len());
        for i in 0..prims1.len() {
            prim_nums.push(prims1[i]);
        }
        self.build_tree(
            above_child,
            &bounds1,
            all_prim_bounds,
            &prim_nums[..],
            n1,
            depth - 1,
            edges,
            prims0,
            &mut prims1[n_primitives..],
            bad_refines,
        );
    }
    // Primitive
    pub fn world_bound(&self) -> Bounds3f {
        self.bounds
    }
    pub fn intersect(&self, ray: &Ray, isect: &mut SurfaceInteraction) -> bool {
        // TODO: ProfilePhase p(Prof::AccelIntersect);
        if self.nodes.is_empty() {
            return false;
        }
        // compute initial parametric range of ray inside kd-tree extent
        let mut t_min: Float = 0.0;
        let mut t_max: Float = 0.0;
        if !self.bounds.intersect_b(&ray, &mut t_min, &mut t_max) {
            return false;
        }
        // prepare to traverse kd-tree for ray
        let inv_dir: Vector3f = Vector3f {
            x: 1.0 / ray.d.x,
            y: 1.0 / ray.d.y,
            z: 1.0 / ray.d.z,
        };
        let mut todo: [KdToDo; MAX_TODO] = [KdToDo::default(); MAX_TODO];
        let mut todo_pos: usize = 0;
        // traverse kd-tree nodes in order for ray
        let mut hit: bool = false;
        let mut node_idx: usize = 0;
        let mut node_opt: Option<&KdAccelNode> = self.nodes.get(node_idx);
        while let Some(node) = node_opt {
            // bail out if we found a hit closer than the current node
            if ray.t_max.get() < t_min {
                break;
            }
            if !node.is_leaf() {
                // process kd-tree interior node

                // compute parametric distance along ray to split plane
                let axis: u8 = node.split_axis() as u8;
                let axis_i: XYZEnum = match axis {
                    0 => XYZEnum::X,
                    1 => XYZEnum::Y,
                    _ => XYZEnum::Z,
                };
                let t_plane: Float = (node.split_pos() - ray.o[axis_i]) * inv_dir[axis_i];
                // get node children pointers for ray
                let below_first: bool = (ray.o[axis_i] < node.split_pos())
                    || (ray.o[axis_i] == node.split_pos() && ray.d[axis_i] <= 0.0 as Float);
                let first_child: Option<&KdAccelNode>;
                let second_child: Option<&KdAccelNode>;
                let first_idx: usize;
                let second_idx: usize;
                if below_first {
                    first_idx = node_idx + 1;
                    first_child = self.nodes.get(first_idx);
                    second_idx = node.above_child() as usize;
                    second_child = self.nodes.get(second_idx);
                } else {
                    first_idx = node.above_child() as usize;
                    first_child = self.nodes.get(first_idx);
                    second_idx = node_idx + 1;
                    second_child = self.nodes.get(second_idx);
                }
                // advance to next child node, possibly enqueue other child
                if t_plane > t_max || t_plane <= 0.0 as Float {
                    node_opt = first_child;
                    node_idx = first_idx;
                } else if t_plane < t_min {
                    node_opt = second_child;
                    node_idx = second_idx;
                } else {
                    // enqueue _second_child_ in todo list
                    todo[todo_pos].node = second_child;
                    todo[todo_pos].idx = second_idx;
                    todo[todo_pos].t_min = t_plane;
                    todo[todo_pos].t_max = t_max;
                    todo_pos += 1;
                    node_opt = first_child;
                    node_idx = first_idx;
                    t_max = t_plane;
                }
            } else {
                // check for intersections inside leaf node
                let n_primitives: i32 = node.n_primitives();
                if n_primitives == 1 {
                    let one_primitive: i32;
                    unsafe {
                        one_primitive = node.priv_union.one_primitive;
                    }
                    let p: &Arc<Primitive> = &self.primitives[one_primitive as usize];
                    // check one primitive inside leaf node
                    if p.intersect(ray, isect) {
                        hit = true;
                    }
                } else {
                    for i in 0..n_primitives {
                        let primitive_indices_offset: i32;
                        unsafe {
                            primitive_indices_offset = node.priv_union.primitive_indices_offset;
                        }
                        let index: usize = self.primitive_indices
                            [(primitive_indices_offset + i) as usize]
                            as usize;
                        let p: &Arc<Primitive> = &self.primitives[index];
                        // check one primitive inside leaf node
                        if p.intersect(ray, isect) {
                            hit = true;
                        }
                    }
                }
                // grab next node to process from todo list
                if todo_pos > 0 {
                    todo_pos -= 1;
                    node_opt = todo[todo_pos].node;
                    node_idx = todo[todo_pos].idx;
                    t_min = todo[todo_pos].t_min;
                    t_max = todo[todo_pos].t_max;
                } else {
                    break;
                }
            }
        }
        hit
    }
    pub fn intersect_p(&self, ray: &Ray) -> bool {
        // TODO: ProfilePhase p(Prof::AccelIntersectP);
        if self.nodes.is_empty() {
            return false;
        }
        // compute initial parametric range of ray inside kd-tree extent
        let mut t_min: Float = 0.0;
        let mut t_max: Float = 0.0;
        if !self.bounds.intersect_b(&ray, &mut t_min, &mut t_max) {
            return false;
        }
        // prepare to traverse kd-tree for ray
        let inv_dir: Vector3f = Vector3f {
            x: 1.0 / ray.d.x,
            y: 1.0 / ray.d.y,
            z: 1.0 / ray.d.z,
        };
        let mut todo: [KdToDo; MAX_TODO] = [KdToDo::default(); MAX_TODO];
        let mut todo_pos: usize = 0;
        let mut node_idx: usize = 0;
        let mut node_opt: Option<&KdAccelNode> = self.nodes.get(node_idx);
        while let Some(node) = node_opt {
            if node.is_leaf() {
                // check for shadow ray intersections inside leaf node
                let n_primitives: i32 = node.n_primitives();
                if n_primitives == 1 {
                    let one_primitive: i32;
                    unsafe {
                        one_primitive = node.priv_union.one_primitive;
                    }
                    let p: &Arc<Primitive> = &self.primitives[one_primitive as usize];
                    if p.intersect_p(ray) {
                        return true;
                    }
                } else {
                    for i in 0..n_primitives {
                        let primitive_indices_offset: i32;
                        unsafe {
                            primitive_indices_offset = node.priv_union.primitive_indices_offset;
                        }
                        let primitive_index: usize = self.primitive_indices
                            [(primitive_indices_offset + i) as usize]
                            as usize;
                        let prim: &Arc<Primitive> = &self.primitives[primitive_index];
                        if prim.intersect_p(ray) {
                            return true;
                        }
                    }
                }
                // grab next node to process from todo list
                if todo_pos > 0 {
                    todo_pos -= 1;
                    node_opt = todo[todo_pos].node;
                    node_idx = todo[todo_pos].idx;
                    t_min = todo[todo_pos].t_min;
                    t_max = todo[todo_pos].t_max;
                } else {
                    break;
                }
            } else {
                // process kd-tree interior node

                // compute parametric distance along ray to split plane
                let axis: u8 = node.split_axis() as u8;
                let axis_i: XYZEnum = match axis {
                    0 => XYZEnum::X,
                    1 => XYZEnum::Y,
                    _ => XYZEnum::Z,
                };
                let t_plane: Float = (node.split_pos() - ray.o[axis_i]) * inv_dir[axis_i];
                // get node children pointers for ray
                let below_first: bool = (ray.o[axis_i] < node.split_pos())
                    || (ray.o[axis_i] == node.split_pos() && ray.d[axis_i] <= 0.0 as Float);
                let first_child: Option<&KdAccelNode>;
                let second_child: Option<&KdAccelNode>;
                let first_idx: usize;
                let second_idx: usize;
                if below_first {
                    first_idx = node_idx + 1;
                    first_child = self.nodes.get(first_idx);
                    second_idx = node.above_child() as usize;
                    second_child = self.nodes.get(second_idx);
                } else {
                    first_idx = node.above_child() as usize;
                    first_child = self.nodes.get(first_idx);
                    second_idx = node_idx + 1;
                    second_child = self.nodes.get(second_idx);
                }
                // advance to next child node, possibly enqueue other child
                if t_plane > t_max || t_plane <= 0.0 as Float {
                    node_opt = first_child;
                    node_idx = first_idx;
                } else if t_plane < t_min {
                    node_opt = second_child;
                    node_idx = second_idx;
                } else {
                    // enqueue _second_child_ in todo list
                    todo[todo_pos].node = second_child;
                    todo[todo_pos].idx = second_idx;
                    todo[todo_pos].t_min = t_plane;
                    todo[todo_pos].t_max = t_max;
                    todo_pos += 1;
                    node_opt = first_child;
                    node_idx = first_idx;
                    t_max = t_plane;
                }
            }
        }
        false
    }
    pub fn get_material(&self) -> Option<Arc<Material>> {
        None
    }
    pub fn get_area_light(&self) -> Option<Arc<Light>> {
        None
    }
}