rb_kd_tree 0.0.1

data/.gitignore

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+*.gem
+*.rbc
+.bundle
+.config
+.yardoc
+Gemfile.lock
+InstalledFiles
+_yardoc
+coverage
+doc/
+lib/bundler/man
+pkg
+rdoc
+spec/reports
+test/tmp
+test/version_tmp
+tmp

data/Gemfile

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+source 'https://rubygems.org'
+
+# Specify your gem's dependencies in kd_tree.gemspec
+gemspec

data/LICENSE.txt

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+Copyright (c) 2013 Ryan Closner
+
+MIT License
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

data/README.md

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+# KDTree
+
+KDTree is a Ruby wrapper for John Tsiombikas' KDTree library written in C. It supports K dimensional tree nearest neighbor searches.
+
+## Installation
+
+Add this line to your application's Gemfile:
+
+    gem 'kd_tree'
+
+And then execute:
+
+    $ bundle
+
+Or install it yourself as:
+
+    $ gem install kd_tree
+
+## Usage
+
+Iniitalize a new KDTree with a multi-dimensional array of nodes, and an integer specifying how many dimensions each node has:
+
+```ruby
+tree = KDTree.new([ [1, 2, 3], [ 4, 5, 6] ], 3)
+#=> #<KDTree:0x007ffca8568748> 
+```
+
+Insert additional nodes:
+
+```ruby
+tree.insert([7, 8, 9])
+#=> [ 7, 8, 9 ]
+```
+
+Perform a nearest neighbor search:
+
+```ruby
+tree.nearest_neighbor([ 1, 2, 3 ])
+#=> { "query"=>[1, 2, 3], "position"=>[1.0, 2.0, 3.0], "distance"=>0.0 }
+
+tree.nearest_neighbor([ 4, 5, 6])
+#=> { "query"=>[4, 5, 6], "position"=>[4.0, 5.0, 6.0], "distance"=>0.0 }
+
+tree.nearest_neigbor([ 100, 101, 102 ])
+#=> { "query"=>[100, 101, 102], "position"=>[4.0, 5.0, 6.0], "distance"=>27648.0 }
+```
+
+## Contributing
+
+1. Fork it
+2. Create your feature branch (`git checkout -b my-new-feature`)
+3. Commit your changes (`git commit -am 'Add some feature'`)
+4. Push to the branch (`git push origin my-new-feature`)
+5. Create new Pull Request

data/Rakefile

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+require "bundler/gem_tasks"
+require "rake/extensiontask"
+
+Rake::ExtensionTask.new("kd_tree")

data/ext/kd_tree/extconf.rb

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+require 'mkmf'
+
+create_makefile('kd_tree/kd_tree')

data/ext/kd_tree/kd_tree.c

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+#include <ruby.h>
+#include "vendor/kdtree.c"
+
+VALUE cKDTreeNode;
+
+struct kdtree * get_tree_from_klass(VALUE klass)
+{
+  struct kdtree * pointer;
+  Data_Get_Struct(klass, struct kdtree, pointer);
+  return pointer;
+}
+
+static VALUE kd_tree_alloc(VALUE klass)
+{
+  struct kdtree *tree;
+
+  if (!(tree = malloc(sizeof *tree))) {
+    return 0; 
+  }
+
+  tree->root  = 0;
+  tree->destr = 0;
+  tree->rect  = 0;
+
+  VALUE object = Data_Make_Struct(klass, struct kdtree, 0, kd_free, tree);
+
+  return object;
+}
+
+static VALUE kd_tree_insert(VALUE klass, VALUE position)
+{
+  struct kdtree *tree = get_tree_from_klass(klass);
+  position = rb_check_array_type(position);
+
+  if (NIL_P(position) || RARRAY_LEN(position) != tree->dim) {
+    rb_raise(rb_eRuntimeError, "nodes contain invalid array dimensions");
+  }
+
+  int i;
+  double pos[tree->dim];
+
+  for (i = 0; i < tree->dim; i++) {
+    pos[i] = NUM2DBL(rb_ary_entry(position, i));
+  }
+  
+  kd_insert(tree, pos, 0);
+
+  return position;
+}
+
+static VALUE kd_tree_init(VALUE klass, VALUE nodes, VALUE dims)
+{
+  Check_Type(nodes, T_ARRAY);
+  Check_Type(dims, T_FIXNUM);
+
+  struct kdtree *tree = get_tree_from_klass(klass);
+
+  tree->dim = NUM2INT(dims);
+
+  int i;
+  for (i = 0; i < RARRAY_LEN(nodes); i++) {
+    kd_tree_insert(klass, rb_ary_entry(nodes, i));
+  }
+
+  return klass;
+}
+
+static VALUE kd_tree_nearest(VALUE klass, VALUE position)
+{
+  Check_Type(position, T_ARRAY);
+
+  struct kdtree *tree = get_tree_from_klass(klass);
+  struct kdhyperrect *rect;
+  struct kdnode *result_node = tree->root;
+  double pos[tree->dim];
+  double dist_sq;
+  int i;
+
+  if (!tree) return 0;
+  if (!tree->rect) return 0;
+  if (!(rect = hyperrect_duplicate(tree->rect))) return 0;
+
+  for (i = 0; i < tree->dim; i++) {
+    pos[i] = NUM2DBL(rb_ary_entry(position, i));
+    dist_sq += SQ(result_node->pos[i] - pos[i]);
+  }
+
+  kd_nearest_i(tree->root, pos, &result_node, &dist_sq, rect);
+  hyperrect_free(rect);
+
+  VALUE result = rb_hash_new();
+
+  if (result_node) {
+    VALUE result_node_pos = rb_ary_new();
+
+    for (i = 0; i < tree->dim; i++) {
+      rb_ary_push(result_node_pos, DBL2NUM(result_node->pos[i]));
+    }
+
+    rb_hash_aset(result, rb_str_new2("query"), position);
+    rb_hash_aset(result, rb_str_new2("position"), result_node_pos);
+    rb_hash_aset(result, rb_str_new2("distance"), DBL2NUM(dist_sq));
+  }
+
+  return result;
+}
+
+void Init_kd_tree(void) {
+  VALUE cKDTree = rb_define_class("KDTree", rb_cObject);
+  rb_define_alloc_func(cKDTree, kd_tree_alloc);
+  rb_define_method(cKDTree, "initialize", kd_tree_init, 2);
+  rb_define_method(cKDTree, "insert", kd_tree_insert, 1);
+  rb_define_method(cKDTree, "nearest_neighbor", kd_tree_nearest, 1);
+}

data/ext/kd_tree/vendor/kdtree.c

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+/*
+This file is part of ``kdtree'', a library for working with kd-trees.
+Copyright (C) 2007-2011 John Tsiombikas <nuclear@member.fsf.org>
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+3. The name of the author may not be used to endorse or promote products
+   derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+OF SUCH DAMAGE.
+*/
+/* single nearest neighbor search written by Tamas Nepusz <tamas@cs.rhul.ac.uk> */
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include "kdtree.h"
+
+#if defined(WIN32) || defined(__WIN32__)
+#include <malloc.h>
+#endif
+
+#ifdef USE_LIST_NODE_ALLOCATOR
+
+#ifndef NO_PTHREADS
+#include <pthread.h>
+#else
+
+#ifndef I_WANT_THREAD_BUGS
+#error "You are compiling with the fast list node allocator, with pthreads disabled! This WILL break if used from multiple threads."
+#endif	/* I want thread bugs */
+
+#endif	/* pthread support */
+#endif	/* use list node allocator */
+
+struct kdhyperrect {
+	int dim;
+	double *min, *max;              /* minimum/maximum coords */
+};
+
+struct kdnode {
+	double *pos;
+	int dir;
+	void *data;
+
+	struct kdnode *left, *right;	/* negative/positive side */
+};
+
+struct res_node {
+	struct kdnode *item;
+	double dist_sq;
+	struct res_node *next;
+};
+
+struct kdtree {
+	int dim;
+	struct kdnode *root;
+	struct kdhyperrect *rect;
+	void (*destr)(void*);
+};
+
+struct kdres {
+	struct kdtree *tree;
+	struct res_node *rlist, *riter;
+	int size;
+};
+
+#define SQ(x)			((x) * (x))
+
+
+static void clear_rec(struct kdnode *node, void (*destr)(void*));
+static int insert_rec(struct kdnode **node, const double *pos, void *data, int dir, int dim);
+static int rlist_insert(struct res_node *list, struct kdnode *item, double dist_sq);
+static void clear_results(struct kdres *set);
+
+static struct kdhyperrect* hyperrect_create(int dim, const double *min, const double *max);
+static void hyperrect_free(struct kdhyperrect *rect);
+static struct kdhyperrect* hyperrect_duplicate(const struct kdhyperrect *rect);
+static void hyperrect_extend(struct kdhyperrect *rect, const double *pos);
+static double hyperrect_dist_sq(struct kdhyperrect *rect, const double *pos);
+
+#ifdef USE_LIST_NODE_ALLOCATOR
+static struct res_node *alloc_resnode(void);
+static void free_resnode(struct res_node*);
+#else
+#define alloc_resnode()		malloc(sizeof(struct res_node))
+#define free_resnode(n)		free(n)
+#endif
+
+
+
+struct kdtree *kd_create(int k)
+{
+	struct kdtree *tree;
+
+	if(!(tree = malloc(sizeof *tree))) {
+		return 0;
+	}
+
+	tree->dim = k;
+	tree->root = 0;
+	tree->destr = 0;
+	tree->rect = 0;
+
+	return tree;
+}
+
+void kd_free(struct kdtree *tree)
+{
+	if(tree) {
+		kd_clear(tree);
+		free(tree);
+	}
+}
+
+static void clear_rec(struct kdnode *node, void (*destr)(void*))
+{
+	if(!node) return;
+
+	clear_rec(node->left, destr);
+	clear_rec(node->right, destr);
+	
+	if(destr) {
+		destr(node->data);
+	}
+	free(node->pos);
+	free(node);
+}
+
+void kd_clear(struct kdtree *tree)
+{
+	clear_rec(tree->root, tree->destr);
+	tree->root = 0;
+
+	if (tree->rect) {
+		hyperrect_free(tree->rect);
+		tree->rect = 0;
+	}
+}
+
+void kd_data_destructor(struct kdtree *tree, void (*destr)(void*))
+{
+	tree->destr = destr;
+}
+
+
+static int insert_rec(struct kdnode **nptr, const double *pos, void *data, int dir, int dim)
+{
+	int new_dir;
+	struct kdnode *node;
+
+	if(!*nptr) {
+		if(!(node = malloc(sizeof *node))) {
+			return -1;
+		}
+		if(!(node->pos = malloc(dim * sizeof *node->pos))) {
+			free(node);
+			return -1;
+		}
+		memcpy(node->pos, pos, dim * sizeof *node->pos);
+		node->data = data;
+		node->dir = dir;
+		node->left = node->right = 0;
+		*nptr = node;
+		return 0;
+	}
+
+	node = *nptr;
+	new_dir = (node->dir + 1) % dim;
+	if(pos[node->dir] < node->pos[node->dir]) {
+		return insert_rec(&(*nptr)->left, pos, data, new_dir, dim);
+	}
+	return insert_rec(&(*nptr)->right, pos, data, new_dir, dim);
+}
+
+int kd_insert(struct kdtree *tree, const double *pos, void *data)
+{
+	if (insert_rec(&tree->root, pos, data, 0, tree->dim)) {
+		return -1;
+	}
+
+	if (tree->rect == 0) {
+		tree->rect = hyperrect_create(tree->dim, pos, pos);
+	} else {
+		hyperrect_extend(tree->rect, pos);
+	}
+
+	return 0;
+}
+
+int kd_insertf(struct kdtree *tree, const float *pos, void *data)
+{
+	static double sbuf[16];
+	double *bptr, *buf = 0;
+	int res, dim = tree->dim;
+
+	if(dim > 16) {
+#ifndef NO_ALLOCA
+		if(dim <= 256)
+			bptr = buf = alloca(dim * sizeof *bptr);
+		else
+#endif
+			if(!(bptr = buf = malloc(dim * sizeof *bptr))) {
+				return -1;
+			}
+	} else {
+		bptr = buf = sbuf;
+	}
+
+	while(dim-- > 0) {
+		*bptr++ = *pos++;
+	}
+
+	res = kd_insert(tree, buf, data);
+#ifndef NO_ALLOCA
+	if(tree->dim > 256)
+#else
+	if(tree->dim > 16)
+#endif
+		free(buf);
+	return res;
+}
+
+int kd_insert3(struct kdtree *tree, double x, double y, double z, void *data)
+{
+	double buf[3];
+	buf[0] = x;
+	buf[1] = y;
+	buf[2] = z;
+	return kd_insert(tree, buf, data);
+}
+
+int kd_insert3f(struct kdtree *tree, float x, float y, float z, void *data)
+{
+	double buf[3];
+	buf[0] = x;
+	buf[1] = y;
+	buf[2] = z;
+	return kd_insert(tree, buf, data);
+}
+
+static int find_nearest(struct kdnode *node, const double *pos, double range, struct res_node *list, int ordered, int dim)
+{
+	double dist_sq, dx;
+	int i, ret, added_res = 0;
+
+	if(!node) return 0;
+
+	dist_sq = 0;
+	for(i=0; i<dim; i++) {
+		dist_sq += SQ(node->pos[i] - pos[i]);
+	}
+	if(dist_sq <= SQ(range)) {
+		if(rlist_insert(list, node, ordered ? dist_sq : -1.0) == -1) {
+			return -1;
+		}
+		added_res = 1;
+	}
+
+	dx = pos[node->dir] - node->pos[node->dir];
+
+	ret = find_nearest(dx <= 0.0 ? node->left : node->right, pos, range, list, ordered, dim);
+	if(ret >= 0 && fabs(dx) < range) {
+		added_res += ret;
+		ret = find_nearest(dx <= 0.0 ? node->right : node->left, pos, range, list, ordered, dim);
+	}
+	if(ret == -1) {
+		return -1;
+	}
+	added_res += ret;
+
+	return added_res;
+}
+
+#if 0
+static int find_nearest_n(struct kdnode *node, const double *pos, double range, int num, struct rheap *heap, int dim)
+{
+	double dist_sq, dx;
+	int i, ret, added_res = 0;
+
+	if(!node) return 0;
+	
+	/* if the photon is close enough, add it to the result heap */
+	dist_sq = 0;
+	for(i=0; i<dim; i++) {
+		dist_sq += SQ(node->pos[i] - pos[i]);
+	}
+	if(dist_sq <= range_sq) {
+		if(heap->size >= num) {
+			/* get furthest element */
+			struct res_node *maxelem = rheap_get_max(heap);
+
+			/* and check if the new one is closer than that */
+			if(maxelem->dist_sq > dist_sq) {
+				rheap_remove_max(heap);
+
+				if(rheap_insert(heap, node, dist_sq) == -1) {
+					return -1;
+				}
+				added_res = 1;
+
+				range_sq = dist_sq;
+			}
+		} else {
+			if(rheap_insert(heap, node, dist_sq) == -1) {
+				return =1;
+			}
+			added_res = 1;
+		}
+	}
+
+
+	/* find signed distance from the splitting plane */
+	dx = pos[node->dir] - node->pos[node->dir];
+
+	ret = find_nearest_n(dx <= 0.0 ? node->left : node->right, pos, range, num, heap, dim);
+	if(ret >= 0 && fabs(dx) < range) {
+		added_res += ret;
+		ret = find_nearest_n(dx <= 0.0 ? node->right : node->left, pos, range, num, heap, dim);
+	}
+
+}
+#endif
+
+static void kd_nearest_i(struct kdnode *node, const double *pos, struct kdnode **result, double *result_dist_sq, struct kdhyperrect* rect)
+{
+	int dir = node->dir;
+	int i;
+	double dummy, dist_sq;
+	struct kdnode *nearer_subtree, *farther_subtree;
+	double *nearer_hyperrect_coord, *farther_hyperrect_coord;
+
+	/* Decide whether to go left or right in the tree */
+	dummy = pos[dir] - node->pos[dir];
+	if (dummy <= 0) {
+		nearer_subtree = node->left;
+		farther_subtree = node->right;
+		nearer_hyperrect_coord = rect->max + dir;
+		farther_hyperrect_coord = rect->min + dir;
+	} else {
+		nearer_subtree = node->right;
+		farther_subtree = node->left;
+		nearer_hyperrect_coord = rect->min + dir;
+		farther_hyperrect_coord = rect->max + dir;
+	}
+
+	if (nearer_subtree) {
+		/* Slice the hyperrect to get the hyperrect of the nearer subtree */
+		dummy = *nearer_hyperrect_coord;
+		*nearer_hyperrect_coord = node->pos[dir];
+		/* Recurse down into nearer subtree */
+		kd_nearest_i(nearer_subtree, pos, result, result_dist_sq, rect);
+		/* Undo the slice */
+		*nearer_hyperrect_coord = dummy;
+	}
+
+	/* Check the distance of the point at the current node, compare it
+	 * with our best so far */
+	dist_sq = 0;
+	for(i=0; i < rect->dim; i++) {
+		dist_sq += SQ(node->pos[i] - pos[i]);
+	}
+	if (dist_sq < *result_dist_sq) {
+		*result = node;
+		*result_dist_sq = dist_sq;
+	}
+
+	if (farther_subtree) {
+		/* Get the hyperrect of the farther subtree */
+		dummy = *farther_hyperrect_coord;
+		*farther_hyperrect_coord = node->pos[dir];
+		/* Check if we have to recurse down by calculating the closest
+		 * point of the hyperrect and see if it's closer than our
+		 * minimum distance in result_dist_sq. */
+		if (hyperrect_dist_sq(rect, pos) < *result_dist_sq) {
+			/* Recurse down into farther subtree */
+			kd_nearest_i(farther_subtree, pos, result, result_dist_sq, rect);
+		}
+		/* Undo the slice on the hyperrect */
+		*farther_hyperrect_coord = dummy;
+	}
+}
+
+struct kdres *kd_nearest(struct kdtree *kd, const double *pos)
+{
+	struct kdhyperrect *rect;
+	struct kdnode *result;
+	struct kdres *rset;
+	double dist_sq;
+	int i;
+
+	if (!kd) return 0;
+	if (!kd->rect) return 0;
+
+	/* Allocate result set */
+	if(!(rset = malloc(sizeof *rset))) {
+		return 0;
+	}
+	if(!(rset->rlist = alloc_resnode())) {
+		free(rset);
+		return 0;
+	}
+	rset->rlist->next = 0;
+	rset->tree = kd;
+
+	/* Duplicate the bounding hyperrectangle, we will work on the copy */
+	if (!(rect = hyperrect_duplicate(kd->rect))) {
+		kd_res_free(rset);
+		return 0;
+	}
+
+	/* Our first guesstimate is the root node */
+	result = kd->root;
+	dist_sq = 0;
+	for (i = 0; i < kd->dim; i++)
+		dist_sq += SQ(result->pos[i] - pos[i]);
+
+	/* Search for the nearest neighbour recursively */
+	kd_nearest_i(kd->root, pos, &result, &dist_sq, rect);
+
+	/* Free the copy of the hyperrect */
+	hyperrect_free(rect);
+
+	/* Store the result */
+	if (result) {
+		if (rlist_insert(rset->rlist, result, -1.0) == -1) {
+			kd_res_free(rset);
+			return 0;
+		}
+		rset->size = 1;
+		kd_res_rewind(rset);
+		return rset;
+	} else {
+		kd_res_free(rset);
+		return 0;
+	}
+}
+
+struct kdres *kd_nearestf(struct kdtree *tree, const float *pos)
+{
+	static double sbuf[16];
+	double *bptr, *buf = 0;
+	int dim = tree->dim;
+	struct kdres *res;
+
+	if(dim > 16) {
+#ifndef NO_ALLOCA
+		if(dim <= 256)
+			bptr = buf = alloca(dim * sizeof *bptr);
+		else
+#endif
+			if(!(bptr = buf = malloc(dim * sizeof *bptr))) {
+				return 0;
+			}
+	} else {
+		bptr = buf = sbuf;
+	}
+
+	while(dim-- > 0) {
+		*bptr++ = *pos++;
+	}
+
+	res = kd_nearest(tree, buf);
+#ifndef NO_ALLOCA
+	if(tree->dim > 256)
+#else
+	if(tree->dim > 16)
+#endif
+		free(buf);
+	return res;
+}
+
+struct kdres *kd_nearest3(struct kdtree *tree, double x, double y, double z)
+{
+	double pos[3];
+	pos[0] = x;
+	pos[1] = y;
+	pos[2] = z;
+	return kd_nearest(tree, pos);
+}
+
+struct kdres *kd_nearest3f(struct kdtree *tree, float x, float y, float z)
+{
+	double pos[3];
+	pos[0] = x;
+	pos[1] = y;
+	pos[2] = z;
+	return kd_nearest(tree, pos);
+}
+
+/* ---- nearest N search ---- */
+/*
+static kdres *kd_nearest_n(struct kdtree *kd, const double *pos, int num)
+{
+	int ret;
+	struct kdres *rset;
+
+	if(!(rset = malloc(sizeof *rset))) {
+		return 0;
+	}
+	if(!(rset->rlist = alloc_resnode())) {
+		free(rset);
+		return 0;
+	}
+	rset->rlist->next = 0;
+	rset->tree = kd;
+
+	if((ret = find_nearest_n(kd->root, pos, range, num, rset->rlist, kd->dim)) == -1) {
+		kd_res_free(rset);
+		return 0;
+	}
+	rset->size = ret;
+	kd_res_rewind(rset);
+	return rset;
+}*/
+
+struct kdres *kd_nearest_range(struct kdtree *kd, const double *pos, double range)
+{
+	int ret;
+	struct kdres *rset;
+
+	if(!(rset = malloc(sizeof *rset))) {
+		return 0;
+	}
+	if(!(rset->rlist = alloc_resnode())) {
+		free(rset);
+		return 0;
+	}
+	rset->rlist->next = 0;
+	rset->tree = kd;
+
+	if((ret = find_nearest(kd->root, pos, range, rset->rlist, 0, kd->dim)) == -1) {
+		kd_res_free(rset);
+		return 0;
+	}
+	rset->size = ret;
+	kd_res_rewind(rset);
+	return rset;
+}
+
+struct kdres *kd_nearest_rangef(struct kdtree *kd, const float *pos, float range)
+{
+	static double sbuf[16];
+	double *bptr, *buf = 0;
+	int dim = kd->dim;
+	struct kdres *res;
+
+	if(dim > 16) {
+#ifndef NO_ALLOCA
+		if(dim <= 256)
+			bptr = buf = alloca(dim * sizeof *bptr);
+		else
+#endif
+			if(!(bptr = buf = malloc(dim * sizeof *bptr))) {
+				return 0;
+			}
+	} else {
+		bptr = buf = sbuf;
+	}
+
+	while(dim-- > 0) {
+		*bptr++ = *pos++;
+	}
+
+	res = kd_nearest_range(kd, buf, range);
+#ifndef NO_ALLOCA
+	if(kd->dim > 256)
+#else
+	if(kd->dim > 16)
+#endif
+		free(buf);
+	return res;
+}
+
+struct kdres *kd_nearest_range3(struct kdtree *tree, double x, double y, double z, double range)
+{
+	double buf[3];
+	buf[0] = x;
+	buf[1] = y;
+	buf[2] = z;
+	return kd_nearest_range(tree, buf, range);
+}
+
+struct kdres *kd_nearest_range3f(struct kdtree *tree, float x, float y, float z, float range)
+{
+	double buf[3];
+	buf[0] = x;
+	buf[1] = y;
+	buf[2] = z;
+	return kd_nearest_range(tree, buf, range);
+}
+
+void kd_res_free(struct kdres *rset)
+{
+	clear_results(rset);
+	free_resnode(rset->rlist);
+	free(rset);
+}
+
+int kd_res_size(struct kdres *set)
+{
+	return (set->size);
+}
+
+void kd_res_rewind(struct kdres *rset)
+{
+	rset->riter = rset->rlist->next;
+}
+
+int kd_res_end(struct kdres *rset)
+{
+	return rset->riter == 0;
+}
+
+int kd_res_next(struct kdres *rset)
+{
+	rset->riter = rset->riter->next;
+	return rset->riter != 0;
+}
+
+void *kd_res_item(struct kdres *rset, double *pos)
+{
+	if(rset->riter) {
+		if(pos) {
+			memcpy(pos, rset->riter->item->pos, rset->tree->dim * sizeof *pos);
+		}
+		return rset->riter->item->data;
+	}
+	return 0;
+}
+
+void *kd_res_itemf(struct kdres *rset, float *pos)
+{
+	if(rset->riter) {
+		if(pos) {
+			int i;
+			for(i=0; i<rset->tree->dim; i++) {
+				pos[i] = rset->riter->item->pos[i];
+			}
+		}
+		return rset->riter->item->data;
+	}
+	return 0;
+}
+
+void *kd_res_item3(struct kdres *rset, double *x, double *y, double *z)
+{
+	if(rset->riter) {
+		if(*x) *x = rset->riter->item->pos[0];
+		if(*y) *y = rset->riter->item->pos[1];
+		if(*z) *z = rset->riter->item->pos[2];
+	}
+	return 0;
+}
+
+void *kd_res_item3f(struct kdres *rset, float *x, float *y, float *z)
+{
+	if(rset->riter) {
+		if(*x) *x = rset->riter->item->pos[0];
+		if(*y) *y = rset->riter->item->pos[1];
+		if(*z) *z = rset->riter->item->pos[2];
+	}
+	return 0;
+}
+
+void *kd_res_item_data(struct kdres *set)
+{
+	return kd_res_item(set, 0);
+}
+
+/* ---- hyperrectangle helpers ---- */
+static struct kdhyperrect* hyperrect_create(int dim, const double *min, const double *max)
+{
+	size_t size = dim * sizeof(double);
+	struct kdhyperrect* rect = 0;
+
+	if (!(rect = malloc(sizeof(struct kdhyperrect)))) {
+		return 0;
+	}
+
+	rect->dim = dim;
+	if (!(rect->min = malloc(size))) {
+		free(rect);
+		return 0;
+	}
+	if (!(rect->max = malloc(size))) {
+		free(rect->min);
+		free(rect);
+		return 0;
+	}
+	memcpy(rect->min, min, size);
+	memcpy(rect->max, max, size);
+
+	return rect;
+}
+
+static void hyperrect_free(struct kdhyperrect *rect)
+{
+	free(rect->min);
+	free(rect->max);
+	free(rect);
+}
+
+static struct kdhyperrect* hyperrect_duplicate(const struct kdhyperrect *rect)
+{
+	return hyperrect_create(rect->dim, rect->min, rect->max);
+}
+
+static void hyperrect_extend(struct kdhyperrect *rect, const double *pos)
+{
+	int i;
+
+	for (i=0; i < rect->dim; i++) {
+		if (pos[i] < rect->min[i]) {
+			rect->min[i] = pos[i];
+		}
+		if (pos[i] > rect->max[i]) {
+			rect->max[i] = pos[i];
+		}
+	}
+}
+
+static double hyperrect_dist_sq(struct kdhyperrect *rect, const double *pos)
+{
+	int i;
+	double result = 0;
+
+	for (i=0; i < rect->dim; i++) {
+		if (pos[i] < rect->min[i]) {
+			result += SQ(rect->min[i] - pos[i]);
+		} else if (pos[i] > rect->max[i]) {
+			result += SQ(rect->max[i] - pos[i]);
+		}
+	}
+
+	return result;
+}
+
+/* ---- static helpers ---- */
+
+#ifdef USE_LIST_NODE_ALLOCATOR
+/* special list node allocators. */
+static struct res_node *free_nodes;
+
+#ifndef NO_PTHREADS
+static pthread_mutex_t alloc_mutex = PTHREAD_MUTEX_INITIALIZER;
+#endif
+
+static struct res_node *alloc_resnode(void)
+{
+	struct res_node *node;
+
+#ifndef NO_PTHREADS
+	pthread_mutex_lock(&alloc_mutex);
+#endif
+
+	if(!free_nodes) {
+		node = malloc(sizeof *node);
+	} else {
+		node = free_nodes;
+		free_nodes = free_nodes->next;
+		node->next = 0;
+	}
+
+#ifndef NO_PTHREADS
+	pthread_mutex_unlock(&alloc_mutex);
+#endif
+
+	return node;
+}
+
+static void free_resnode(struct res_node *node)
+{
+#ifndef NO_PTHREADS
+	pthread_mutex_lock(&alloc_mutex);
+#endif
+
+	node->next = free_nodes;
+	free_nodes = node;
+
+#ifndef NO_PTHREADS
+	pthread_mutex_unlock(&alloc_mutex);
+#endif
+}
+#endif	/* list node allocator or not */
+
+
+/* inserts the item. if dist_sq is >= 0, then do an ordered insert */
+/* TODO make the ordering code use heapsort */
+static int rlist_insert(struct res_node *list, struct kdnode *item, double dist_sq)
+{
+	struct res_node *rnode;
+
+	if(!(rnode = alloc_resnode())) {
+		return -1;
+	}
+	rnode->item = item;
+	rnode->dist_sq = dist_sq;
+
+	if(dist_sq >= 0.0) {
+		while(list->next && list->next->dist_sq < dist_sq) {
+			list = list->next;
+		}
+	}
+	rnode->next = list->next;
+	list->next = rnode;
+	return 0;
+}
+
+static void clear_results(struct kdres *rset)
+{
+	struct res_node *tmp, *node = rset->rlist->next;
+
+	while(node) {
+		tmp = node;
+		node = node->next;
+		free_resnode(tmp);
+	}
+
+	rset->rlist->next = 0;
+}