[WIP] Add traversal queries based on points

[medakk]

For issue #42

This is just some quick code I whipped up to get it working for my use case. It includes a traversal for the points, and it would make sense to add traverse for any Bounded object. What would be the best way to generalize the traversal for all these different use cases?

One way would be to have a single traverse function that takes an argument f, which is a function that takes an AABB and returns whether or not there was a "hit". So, the ray traversal could be implemented as:

    pub fn traverse<'a, Shape: Bounded>(&'a self, ray: &Ray, shapes: &'a [Shape]) -> Vec<&Shape> {
        let mut indices = Vec::new();
        BVHNode::traverse_recursive(&self.nodes, 0, |&aabb| ray.intersects(aabb), &mut indices);
        indices
            .iter()
            .map(|index| &shapes[*index])
            .collect::<Vec<_>>()
    }

[svenstaro]

@finnbear what do you think about this? It's pretty old at this point.

[finnbear]

I'm interested in this (point query) for my personal projects, and I can intuitively understand the implementation due to how simple it is. As early as tomorrow, I'll look into fixing conflicts, fuzzing, etc.

The general traversal function idea is also interesting and, while I don't have a direct use for it as public api, but I do want circle and AABB queries!

[svenstaro]

Excellent, I'm staying tuned!

[svenstaro]

Superseded by #108.

[codecov-commenter]

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Codecov Report

Attention: Patch coverage is 96.15385% with 2 lines in your changes missing coverage. Please review.

Project coverage is 85.07%. Comparing base (4e91c5f) to head (5b9b798).
Report is 234 commits behind head on master.

Files with missing lines	Patch %	Lines
src/bvh/bvh.rs	91.66%	2 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##           master      #43      +/-   ##
==========================================
- Coverage   85.51%   85.07%   -0.45%     
==========================================
  Files           8        8              
  Lines        1450     1487      +37     
==========================================
+ Hits         1240     1265      +25     
- Misses        210      222      +12     

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[finnbear]

*Actually, superseded by #128, which allows you to query for AABB's that contain a point.

#108 adds a different type of query, that finds the closest shapes.