topologicpy 0.8.61__py3-none-any.whl → 0.8.72__py3-none-any.whl

topologicpy/BVH.py

@@ -14,66 +14,188 @@
 # You should have received a copy of the GNU Affero General Public License along with
 # this program. If not, see <https://www.gnu.org/licenses/>.
 
-import topologic_core as topologic
-import warnings
+from __future__ import annotations
+from dataclasses import dataclass
+from typing import List, Tuple, Optional, Callable, Any, Iterable
+import math
 
+# TopologicPy imports (used defensively to keep this file standalone-friendly)
 try:
-    import numpy as np
-except:
-    print("BVH - Installing required numpy library.")
-    try:
-        os.system("pip install numpy")
-    except:
-        os.system("pip install numpy --user")
-    try:
-        import numpy as np
-        print("BVH - numpy library installed correctly.")
-    except:
-        warnings.warn("ANN - Error: Could not import numpy.")
+    from topologicpy.Vertex import Vertex
+    from topologicpy.Edge import Edge
+    from topologicpy.Face import Face
+    from topologicpy.Topology import Topology
+except Exception:
+    # If TopologicPy isn't present in the current environment, we still allow type checking.
+    Vertex = Edge = Face = Topology = object  # type: ignore
 
+
+# ----------------------------
+# Axis-Aligned Bounding Box
+# ----------------------------
+@dataclass
+class AABB:
+    """Axis-aligned bounding box: [minx,miny,minz]..[maxx,maxy,maxz]."""
+    minx: float; miny: float; minz: float
+    maxx: float; maxy: float; maxz: float
+
+    @staticmethod
+    def from_points(pts: Iterable[Tuple[float, float, float]], pad: float = 0.0) -> "AABB":
+        it = iter(pts)
+        try:
+            x, y, z = next(it)
+        except StopIteration:
+            # Empty: return a degenerate box at origin
+            return AABB(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+        minx = maxx = float(x)
+        miny = maxy = float(y)
+        minz = maxz = float(z)
+        for x, y, z in it:
+            if x < minx: minx = x
+            if x > maxx: maxx = x
+            if y < miny: miny = y
+            if y > maxy: maxy = y
+            if z < minz: minz = z
+            if z > maxz: maxz = z
+        if pad:
+            minx -= pad; miny -= pad; minz -= pad
+            maxx += pad; maxy += pad; maxz += pad
+        return AABB(minx, miny, minz, maxx, maxy, maxz)
+
+    @staticmethod
+    def union(a: "AABB", b: "AABB") -> "AABB":
+        return AABB(
+            min(a.minx, b.minx), min(a.miny, b.miny), min(a.minz, b.minz),
+            max(a.maxx, b.maxx), max(a.maxy, b.maxy), max(a.maxz, b.maxz),
+        )
+
+    def extent(self) -> Tuple[float, float, float]:
+        return (self.maxx - self.minx, self.maxy - self.miny, self.maxz - self.minz)
+
+    def center(self) -> Tuple[float, float, float]:
+        return ((self.minx + self.maxx) * 0.5, (self.miny + self.maxy) * 0.5, (self.minz + self.maxz) * 0.5)
+
+    def overlaps(self, other: "AABB") -> bool:
+        return not (self.maxx < other.minx or self.minx > other.maxx or
+                    self.maxy < other.miny or self.miny > other.maxy or
+                    self.maxz < other.minz or self.minz > other.maxz)
+
+    def contains_point(self, p: Tuple[float, float, float]) -> bool:
+        x, y, z = p
+        return (self.minx <= x <= self.maxx and
+                self.miny <= y <= self.maxy and
+                self.minz <= z <= self.maxz)
+
+    def ray_intersect(self, ro: Tuple[float, float, float], rd: Tuple[float, float, float]) -> Tuple[bool, float, float]:
+        """Ray-box intersection using the 'slab' method.
+        Returns (hit, tmin, tmax) in ray param t, where point = ro + t*rd."""
+        (ox, oy, oz) = ro
+        (dx, dy, dz) = rd
+        tmin = -math.inf
+        tmax = math.inf
+
+        def axis(o, d, mn, mx, tmin, tmax):
+            if abs(d) < 1e-15:
+                # Ray parallel to slab: reject if origin not within slab
+                if o < mn or o > mx:
+                    return False, tmin, tmax
+                return True, tmin, tmax
+            invD = 1.0 / d
+            t0 = (mn - o) * invD
+            t1 = (mx - o) * invD
+            if t0 > t1:
+                t0, t1 = t1, t0
+            tmin = max(tmin, t0)
+            tmax = min(tmax, t1)
+            if tmax < tmin:
+                return False, tmin, tmax
+            return True, tmin, tmax
+
+        ok, tmin, tmax = axis(ox, dx, self.minx, self.maxx, tmin, tmax)
+        if not ok: return (False, tmin, tmax)
+        ok, tmin, tmax = axis(oy, dy, self.miny, self.maxy, tmin, tmax)
+        if not ok: return (False, tmin, tmax)
+        ok, tmin, tmax = axis(oz, dz, self.minz, self.maxz, tmin, tmax)
+        if not ok: return (False, tmin, tmax)
+        return True, tmin, tmax
+
+
+# ----------------------------
+# BVH Node
+# ----------------------------
+@dataclass
+class _BVHNode:
+    bbox: AABB
+    left: Optional[int]   # index into nodes list
+    right: Optional[int]  # index into nodes list
+    start: int            # start index into items array (for leaves)
+    count: int            # number of items (for leaves). If count>0, node is leaf.
+
+    def is_leaf(self) -> bool:
+        return self.count > 0
+
+
+# ----------------------------
+# BVH
+# ----------------------------
 class BVH:
-    # A class for Axis-Aligned Bounding Box (AABB)
-    class AABB:
-        def __init__(self, min_point, max_point):
-            self.min_point = np.array(min_point)
-            self.max_point = np.array(max_point)
-            self.centroid = (self.min_point + self.max_point) / 2.0
-
-        def intersects(self, other):
-            # Check if this AABB intersects with another AABB
-            if other == None:
-                return False
-            return np.all(self.min_point <= other.max_point) and np.all(self.max_point >= other.min_point)
-
-        def contains(self, point):
-            # Check if a point is contained within the AABB
-            return np.all(self.min_point <= point) and np.all(self.max_point >= point)
-
-    # MeshObject class that stores a reference to the Topologic object
-    class MeshObject:
-        def __init__(self, vertices, topologic_object):
-            self.vertices = np.array(vertices)
-            self.aabb = BVH.AABB(np.min(vertices, axis=0), np.max(vertices, axis=0))
-            self.centroid = np.mean(vertices, axis=0)
-            self.topologic_object = topologic_object  # Store the Topologic object reference
-
-    # BVH Node class
-    class BVHNode:
-        def __init__(self, aabb, left=None, right=None, objects=None):
-            self.aabb = aabb
-            self.left = left
-            self.right = right
-            self.objects = objects if objects else []
+    """
+    Basic Bounding Volume Hierarchy over TopologicPy topologies.
+
+    Usage:
+        # 1) Prepare your primitives (Faces, Edges, Cells, etc.)
+        faces = Topology.Faces(some_topology)  # or any list of topologies
+
+        # 2) Build the BVH
+        bvh = BVH.FromTopologies(faces, max_leaf_size=4, pad=0.0, silent=False)
+
+        # 3) AABB query
+        hits = bvh.QueryAABB(AABB(minx, miny, minz, maxx, maxy, maxz))
+
+        # 4) Raycast (rough): returns candidate primitive indices
+        cand = bvh.Raycast((ox,oy,oz), (dx,dy,dz))
+
+        # 5) Nearest by centroid (coarse)
+        idx, dist = bvh.Nearest((x,y,z))
+        primitive = bvh.items[idx]
+    """
+
+    def __init__(self):
+        self.nodes: List[_BVHNode] = []
+        self.items: List[Any] = []       # original topologies
+        self.bboxes: List[AABB] = []     # per item bbox
+        self.centroids: List[Tuple[float, float, float]] = []  # per item centroid
+        self._root: Optional[int] = None
+
+    # ---------- Public API ----------
 
     @staticmethod
-    def ByTopologies(*topologies, silent: bool = False):
+    def ByTopologies(
+        *topologies,
+        maxLeafSize: int = 4,
+        tolerance: float = 0.0001,
+        silent: bool = False
+    ) -> "BVH":
         """
         Creates a BVH Tree from the input list of topologies. The input can be individual topologies each as an input argument or a list of topologies stored in one input argument.
 
         Parameters
         ----------
-        topologies : list
-            The list of topologies.
+        *topologies: (tuple of Topologic topologies)
+            One or more TopologicPy topologies to include in the BVH.
+            Each topology is automatically analyzed to extract its vertices and compute an axis-aligned bounding box (AABB)
+            for hierarchical spatial indexing.
+
+        maxLeafSize: int , optional
+            The maximum number of primitives (topologies) that can be stored in a single leaf node of the BVH.
+            Smaller values result in deeper trees with finer spatial subdivision (potentially faster queries but slower build times),
+            while larger values produce shallower trees with coarser spatial grouping (faster builds but less precise queries).
+            Default is 4.
+        tolerance : float , optional
+            The desired tolerance. Tolerance is used for an optional margin added to all sides of each topology's axis-aligned bounding box (AABB).
+            This helps account for numerical precision errors or slight geometric inaccuracies.
+            A small positive value ensures that closely adjacent or nearly touching primitives are
+            properly enclosed within their bounding boxes. Default is 0.0001.
         silent : bool , optional
             If set to True, error and warning messages are suppressed. Default is False.
         
@@ -87,214 +209,359 @@ class BVH:
         from topologicpy.Topology import Topology
         from topologicpy.Helper import Helper
 
-        if len(topologies) == 0:
-            print("BVH.ByTopologies - Error: The input topologies parameter is an empty list. Returning None.")
-            return None
-        if len(topologies) == 1:
-            topologyList = topologies[0]
-            if isinstance(topologyList, list):
-                if len(topologyList) == 0:
-                    if not silent:
-                        print("BVH.ByTopologies - Error: The input topologies parameter is an empty list. Returning None.")
-                    return None
-                else:
-                    topologyList = [x for x in topologyList if Topology.IsInstance(x, "Topology")]
-                    if len(topologyList) == 0:
-                        if not silent:
-                            print("BVH.ByTopologies - Error: The input topologies parameter does not contain any valid topologies. Returning None.")
-                        return None
-            else:
-                if not silent:
-                    print("BVH.ByTopologies - Warning: The input topologies parameter contains only one topology. Returning the same topology.")
-                return topologies
-        else:
-            topologyList = Helper.Flatten(list(topologies))
-            topologyList = [x for x in topologyList if Topology.IsInstance(x, "Topology")]
+        topologyList = Helper.Flatten(list(topologies))
+        topologyList = [t for t in topologyList if Topology.IsInstance(t, "Topology")]
+
         if len(topologyList) == 0:
             if not silent:
                 print("BVH.ByTopologies - Error: The input parameters do not contain any valid topologies. Returning None.")
             return None
-        # Recursive BVH construction
-        def build_bvh(objects, depth=0):
-            if len(objects) == 1:
-                return BVH.BVHNode(objects[0].aabb, objects=objects)
-            
-            # Split objects along the median axis based on their centroids
-            axis = depth % 3
-            objects.sort(key=lambda obj: obj.centroid[axis])
-            
-            mid = len(objects) // 2
-            left_bvh = build_bvh(objects[:mid], depth + 1)
-            right_bvh = build_bvh(objects[mid:], depth + 1)
-
-            # Merge left and right bounding boxes
-            combined_aabb = BVH.AABB(
-                np.minimum(left_bvh.aabb.min_point, right_bvh.aabb.min_point),
-                np.maximum(left_bvh.aabb.max_point, right_bvh.aabb.max_point)
-            )
-            
-            return BVH.BVHNode(combined_aabb, left_bvh, right_bvh)
         
-        mesh_objects = []
-        for topology in topologyList:
-            vertices = [(Vertex.X(v), Vertex.Y(v), Vertex.Z(v)) for v in Topology.Vertices(topology)]
-            mesh_objects.append(BVH.MeshObject(vertices, topology))
+        bvh = BVH()
+
+        # Precompute per-item AABBs & centroids
+        bvh.items = topologyList
+        bvh.bboxes = []
+        bvh.centroids = []
+
+        for topo in bvh.items:
+            pts = [Vertex.Coordinates(v) for v in Topology.Vertices(topo)]
+            if not pts:
+                # Degenerate: keep a tiny box at (0,0,0) to avoid crashes
+                box = AABB.from_points([(0.0, 0.0, 0.0)], pad=tolerance)
+                c = (0.0, 0.0, 0.0)
+            else:
+                box = AABB.from_points(pts, pad=tolerance)
+                c = box.center()
+            bvh.bboxes.append(box)
+            bvh.centroids.append(c)
+
+        # Build using indices
+        indices = list(range(len(bvh.items)))
+        if not indices:
+            if not silent:
+                print("BVH.Topologies - Warning: no items to build.")
+            return bvh
+
+        # Reserve nodes list
+        bvh.nodes = []
+        bvh._root = bvh._build_recursive(indices, maxLeafSize)
+        if not silent:
+            depth = bvh.Depth(bvh)
+            print(f"BVH.ByTopologies - Information: Built with {len(bvh.items)} items, {len(bvh.nodes)} nodes, depth ~{depth}.")
+        return bvh
+
+    @staticmethod
+    def Depth(bvh) -> int:
+        """
+        Returns an approximate depth of the BVH.
         
-        return build_bvh(mesh_objects)
+        Parameters
+        ----------
+        bvh : BVH
+            The bvh tree.
+        
+        Returns
+        -------
+        int
+            The approximate depth of the input bvh tree.
+
+        """
+        def _depth(i: int) -> int:
+            n = bvh.nodes[i]
+            if n.is_leaf(): return 1
+            return 1 + max(_depth(n.left), _depth(n.right))  # type: ignore
+        if bvh._root is None: return 0
+        return _depth(bvh._root)
+
+    @staticmethod
+    def QueryAABB(bvh, query_box: AABB):
+        """Return indices of items whose AABBs overlap query_box."""
+        out: List[int] = []
+        if bvh._root is None: return out
+        stack = [bvh._root]
+        while stack:
+            ni = stack.pop()
+            node = bvh.nodes[ni]
+            if not node.bbox.overlaps(query_box):
+                continue
+            if node.is_leaf():
+                for k in range(node.start, node.start + node.count):
+                    idx = bvh._leaf_items[k]
+                    if bvh.bboxes[idx].overlaps(query_box):
+                        out.append(idx)
+            else:
+                stack.append(node.left)   # type: ignore
+                stack.append(node.right)  # type: ignore
+        return out
     
     @staticmethod
-    def QueryByTopologies(*topologies, silent: bool = False):
+    def Clashes(bvh, *topologies, mantissa: int = 6, tolerance: float = 0.0001, silent: bool = False):
         """
-        Creates a BVH Query from the input list of topologies. The input can be individual topologies each as an input argument or a list of topologies stored in one input argument.
-
+        Returns candidate primitives (topologies) overlapping the BVH (AABB-level) of the input topologies list.
+        You can follow up with precise TopologicPy geometry intersection if needed.
+        
         Parameters
         ----------
-        topologies : list
-            The list of topologies.
+        bvh : BVH
+            The bvh tree.
+        *topologies: (tuple of Topologic topologies)
+            One or more TopologicPy topologies to include in the BVH.
+            Each topology is automatically analyzed to extract its vertices and compute an axis-aligned bounding box (AABB)
+            for hierarchical spatial indexing.
+        mantissa : int , optional
+            The desired length of the mantissa. Default is 6.
+        tolerance : float , optional
+            The desired tolerance. Default is 0.0001. Tolerance is used for an optional margin added to all sides of each topology's axis-aligned bounding box (AABB).
+            This helps account for numerical precision errors or slight geometric inaccuracies.
+            A small positive value ensures that closely adjacent or nearly touching primitives are
+            properly enclosed within their bounding boxes. Default is 0.0001.
         silent : bool , optional
             If set to True, error and warning messages are suppressed. Default is False.
         
         Returns
         -------
-        BVH query
-            The created BVH query.
+        list
+            The list of topologies that broadly interest the input list of topologies.
 
         """
         from topologicpy.Vertex import Vertex
-        from topologicpy.Cluster import Cluster
+        from topologicpy.Cell import Cell
         from topologicpy.Topology import Topology
-        from topologicpy.Dictionary import Dictionary
         from topologicpy.Helper import Helper
 
-        if len(topologies) == 0:
-            print("BVH.QueryByTopologies - Error: The input topologies parameter is an empty list. Returning None.")
-            return None
-        if len(topologies) == 1:
-            topologyList = topologies[0]
-            if isinstance(topologyList, list):
-                if len(topologyList) == 0:
-                    if not silent:
-                        print("BVH.QueryByTopologies - Error: The input topologies parameter is an empty list. Returning None.")
-                    return None
-                else:
-                    topologyList = [x for x in topologyList if Topology.IsInstance(x, "Topology")]
-                    if len(topologyList) == 0:
-                        if not silent:
-                            print("BVH.QueryByTopologies - Error: The input topologies parameter does not contain any valid topologies. Returning None.")
-                        return None
-            else:
-                if not silent:
-                    print("BVH.QueryByTopologies - Warning: The input topologies parameter contains only one topology. Returning the same topology.")
-                return topologies
-        else:
-            topologyList = Helper.Flatten(list(topologies))
-            topologyList = [x for x in topologyList if Topology.IsInstance(x, "Topology")]
+        topologyList = Helper.Flatten(list(topologies))
+        topologyList = [t for t in topologyList if Topology.IsInstance(t, "Topology")]
+
         if len(topologyList) == 0:
             if not silent:
-                print("BVH.ByTopologies - Error: The input parameters do not contain any valid topologies. Returning None.")
+                print("BVH.Clashes - Error: The input parameters do not contain any valid topologies. Returning None.")
             return None
-        vertices = []
+        
+        return_topologies = []
         for topology in topologyList:
-            if Topology.IsInstance(topology, "Vertex"):
-                vertices.append(topology)
+            if Topology.IsInstance(topology, "vertex"):
+                x,y,z = Vertex.Coordinates(topology, mantissa=mantissa)
+                points = [[x-tolerance, y-tolerance, z-tolerance], [x+tolerance, y+tolerance, z+tolerance]]
             else:
-                vertices.extend(Topology.Vertices(topology))
-        cluster = Cluster.ByTopologies(vertices)
-        bb = Topology.BoundingBox(cluster)
-        d = Topology.Dictionary(bb)
-        x_min = Dictionary.ValueAtKey(d, "xmin")
-        y_min = Dictionary.ValueAtKey(d, "ymin")
-        z_min = Dictionary.ValueAtKey(d, "zmin")
-        x_max = Dictionary.ValueAtKey(d, "zmax")
-        y_max = Dictionary.ValueAtKey(d, "ymax")
-        z_max = Dictionary.ValueAtKey(d, "zmax")
-        query_aabb = BVH.AABB(min_point=(x_min, y_min, z_min), max_point=(x_max, y_max, z_max))
-        return query_aabb
-    
-    def Clashes(bvh, query):
-        """
-        Returns a list of topologies in the input bvh tree that clashes (broad phase) with the list of topologies in the input query.
+                points = [Vertex.Coordinates(v, mantissa=mantissa) for v in Topology.Vertices(topology)]
+            aabb_box = AABB.from_points(points, pad = tolerance)
+            return_topologies.extend([bvh.items[i] for i in BVH.QueryAABB(bvh, aabb_box)])
+        return return_topologies              
 
+    @staticmethod
+    def Raycast(bvh, origin, direction: Tuple[float, float, float], mantissa: int = 6, silent: bool = False) -> List[int]:
+        """
+        Returns candidate primitives intersecting the BVH (AABB-level).
+        You can follow up with precise TopologicPy geometry intersection if needed.
+        
         Parameters
         ----------
-        topologies : list
-            The list of topologies.
+        bvh : BVH
+            The bvh tree.
+        origin : topologic_core.Vertex
+            The origin of the ray vector
+        direction : topologic_core.Vector
+            The direction of the raycast vector.
+        mantissa : int , optional
+            The desired length of the mantissa. Default is 6.
         silent : bool , optional
             If set to True, error and warning messages are suppressed. Default is False.
         
         Returns
         -------
         list
-            The list of clashing topologies (based on their axis-aligned bounding box (AABB))
+            The list of the indices of the possible candidates interesecting the input ray vector.
 
         """
-        # Function to perform clash detection (broad-phase) and return Topologic objects
-        def clash_detection(bvh_node, query_aabb, clashing_objects=None):
-            if clashing_objects is None:
-                clashing_objects = []
-            
-            # Check if the query AABB intersects with the current node's AABB
-            if not bvh_node.aabb.intersects(query_aabb):
-                return clashing_objects
-            
-            # If this is a leaf node, check each object in the node
-            if bvh_node.objects:
-                for obj in bvh_node.objects:
-                    if obj.aabb.intersects(query_aabb):
-                        clashing_objects.append(obj.topologic_object)  # Return the Topologic object
-                return clashing_objects
-            
-            # Recursively check the left and right child nodes
-            clash_detection(bvh_node.left, query_aabb, clashing_objects)
-            clash_detection(bvh_node.right, query_aabb, clashing_objects)
-            
-            return clashing_objects
-        return clash_detection(bvh, query)
-
-    # Function to recursively add nodes and edges to the TopologicPy Graph
-    def Graph(bvh, tolerance: float = 0.0001, silent: bool = False):
-        """
-        Creates a graph from the input bvh tree.
 
+        from topologicpy.Vertex import Vertex
+        from topologicpy.Topology import Topology
+
+        if not isinstance(bvh, BVH):
+            if not silent:
+                print("BVH.Raycast - Error: The input bvh parameter is not a valid BVH tree. Returning None.")
+            return None
+        if not Topology.IsInstance(origin, "vertex"):
+            if not silent:
+                print("BVH.Raycast - Error: The input origin parameter is not a valid topologic Vertex. Returning None.")
+            return None
+        if not isinstance(direction, list):
+            if not silent:
+                print("BVH.Raycast - Error: The input direction parameter is not a valid vector. Returning None.")
+            return None
+        if not len(direction) < 3:
+            if not silent:
+                print("BVH.Raycast - Error: The input direction parameter is not a valid vector. Returning None.")
+            return None
+        o_coords = Vertex.Coordinates(origin, mantissa=mantissa)
+        out: List[int] = []
+        if bvh._root is None:
+            if not silent:
+                print("BVH.Raycast - Warning: The input bvh parameter is empty. Returning an empty list.")
+            return out
+
+        # Normalize direction if possible (not strictly required)
+        dx, dy, dz = direction
+        mag = math.sqrt(dx*dx + dy*dy + dz*dz)
+        if mag > 0:
+            direction = (dx/mag, dy/mag, dz/mag)
+
+        stack = [bvh._root]
+        while stack:
+            ni = stack.pop()
+            node = bvh.nodes[ni]
+            hit, tmin, tmax = node.bbox.ray_intersect(o_coords, direction)
+            if not hit or tmax < 0:
+                continue
+            if node.is_leaf():
+                for k in range(node.start, node.start + node.count):
+                    idx = bvh._leaf_items[k]
+                    h2, _, _ = bvh.bboxes[idx].ray_intersect(o_coords, direction)
+                    if h2:
+                        out.append(idx)
+            else:
+                stack.append(node.left)   # type: ignore
+                stack.append(node.right)  # type: ignore
+        return out
+
+    @staticmethod
+    def Nearest(bvh, vertex, mantissa: int = 6, silent: bool = False):
+        """
+        Returns the topology with centroid nearest to the input vertex.
+        Uses AABB distance lower-bounds to prune search.
         Parameters
         ----------
-        bvh : BVH Tree
-            The input BVH Tree.
-        tolerance : float , optional
-            The desired tolerance. Default is 0.0001.
+        bvh : BVH
+            The bvh tree.
+        vertex : topologic_core.Vertex
+            The input vertex.
+        mantissa : int , optional
+            The desired length of the mantissa. Default is 6.
         silent : bool , optional
             If set to True, error and warning messages are suppressed. Default is False.
         
         Returns
         -------
-        topologic_core.Graph
-            The created graph.
-
+        topologic_core.Topology
+            The topology with centroid nearest to the input vertex.
         """
+
         from topologicpy.Vertex import Vertex
-        from topologicpy.Edge import Edge
-        from topologicpy.Graph import Graph
         from topologicpy.Topology import Topology
-        import random
-        def add_bvh_to_graph(bvh_node, graph, parent_vertex=None, tolerance=0.0001):
-            # Create a vertex for the current node's AABB centroid
-            centroid = bvh_node.aabb.centroid
-            current_vertex = Vertex.ByCoordinates(x=centroid[0], y=centroid[1], z=centroid[2])
-
-            # Add an edge from the parent to this vertex (if a parent exists)
-            if parent_vertex is not None:
-                d = Vertex.Distance(parent_vertex, current_vertex)
-                if d <= tolerance:
-                    current_vertex = Topology.Translate(current_vertex, tolerance*random.uniform(2,50), tolerance*random.uniform(2,50), tolerance*random.uniform(2,50))
-                edge = Edge.ByVertices(parent_vertex, current_vertex, tolerance=tolerance, silent=silent)
-                graph = Graph.AddEdge(graph, edge, silent=silent)
-            
-            # Recursively add child nodes
-            if bvh_node.left:
-                graph = add_bvh_to_graph(bvh_node.left, graph, parent_vertex=current_vertex, tolerance=tolerance)
-            if bvh_node.right:
-                graph = add_bvh_to_graph(bvh_node.right, graph, parent_vertex=current_vertex, tolerance=tolerance)
-
-            return graph
-        graph = Graph.ByVerticesEdges([Vertex.Origin()], [])
-        return add_bvh_to_graph(bvh, graph, parent_vertex = None, tolerance=tolerance)
+
+        if not isinstance(bvh, BVH):
+            if not silent:
+                print("BVH.Nearest - Error: The input bvh parameter is not a valid BVH tree. Returning None.")
+            return None
+        if not Topology.IsInstance(vertex, "vertex"):
+            if not silent:
+                print("BVH.Nearest - Error: The input vertex parameter is not a valid topologic Vertex. Returning None.")
+            return None
+        if bvh._root is None or not bvh.items:
+            if not silent:
+                print("BVH.Nearest - Warning: The input bhv tree is empty. Returning None.")
+            return None
+
+        best_idx = -1
+        best_d2 = float("inf")
+
+        def d2_point_aabb(p: Tuple[float, float, float], b: AABB) -> float:
+            px, py, pz = p
+            dx = 0.0
+            if px < b.minx: dx = b.minx - px
+            elif px > b.maxx: dx = px - b.maxx
+            dy = 0.0
+            if py < b.miny: dy = b.miny - py
+            elif py > b.maxy: dy = py - b.maxy
+            dz = 0.0
+            if pz < b.minz: dz = b.minz - pz
+            elif pz > b.maxz: dz = pz - b.maxz
+            return dx*dx + dy*dy + dz*dz
+
+        stack = [bvh._root]
+        point = Vertex.Coordinates(vertex, mantissa=mantissa)
+        while stack:
+            ni = stack.pop()
+            node = bvh.nodes[ni]
+            if d2_point_aabb(point, node.bbox) >= best_d2:
+                continue
+            if node.is_leaf():
+                for k in range(node.start, node.start + node.count):
+                    idx = bvh._leaf_items[k]
+                    cx, cy, cz = bvh.centroids[idx]
+                    dx = cx - point[0]; dy = cy - point[1]; dz = cz - point[2]
+                    d2 = dx*dx + dy*dy + dz*dz
+                    if d2 < best_d2:
+                        best_d2 = d2
+                        best_idx = idx
+            else:
+                # Visit child likely nearer first to improve pruning
+                l = bvh.nodes[node.left]  # type: ignore
+                r = bvh.nodes[node.right] # type: ignore
+                dl = d2_point_aabb(point, l.bbox)
+                dr = d2_point_aabb(point, r.bbox)
+                if dl < dr:
+                    stack.append(node.right) # type: ignore
+                    stack.append(node.left)  # type: ignore
+                else:
+                    stack.append(node.left)  # type: ignore
+                    stack.append(node.right) # type: ignore
+
+        return bvh.items[best_idx]
+
+    # ---------- Internal build ----------
+
+    def _build_recursive(self, indices: List[int], max_leaf_size: int) -> int:
+        """Builds a subtree for 'indices' and returns node index."""
+        # Compute node bbox and centroid bbox
+        node_bbox = self.bboxes[indices[0]]
+        cx_min = cx_max = self.centroids[indices[0]][0]
+        cy_min = cy_max = self.centroids[indices[0]][1]
+        cz_min = cz_max = self.centroids[indices[0]][2]
+        for i in indices[1:]:
+            node_bbox = AABB.union(node_bbox, self.bboxes[i])
+            cx, cy, cz = self.centroids[i]
+            if cx < cx_min: cx_min = cx
+            if cx > cx_max: cx_max = cx
+            if cy < cy_min: cy_min = cy
+            if cy > cy_max: cy_max = cy
+            if cz < cz_min: cz_min = cz
+            if cz > cz_max: cz_max = cz
+
+        if len(indices) <= max_leaf_size:
+            start = len(getattr(self, "_leaf_items", []))
+            if not hasattr(self, "_leaf_items"):
+                self._leaf_items: List[int] = []
+            self._leaf_items.extend(indices)
+            node = _BVHNode(node_bbox, None, None, start, len(indices))
+            self.nodes.append(node)
+            return len(self.nodes) - 1
+
+        # Choose split axis (longest centroid axis)
+        ex = cx_max - cx_min
+        ey = cy_max - cy_min
+        ez = cz_max - cz_min
+        if ex >= ey and ex >= ez:
+            axis = 0
+        elif ey >= ex and ey >= ez:
+            axis = 1
+        else:
+            axis = 2
+
+        # Median split by centroid along chosen axis
+        mid = len(indices) // 2
+        indices.sort(key=lambda i: self.centroids[i][axis])
+        left_idx = indices[:mid]
+        right_idx = indices[mid:]
+
+        # Handle pathological case (all centroids equal) by forcing a split
+        if not left_idx or not right_idx:
+            left_idx = indices[:len(indices)//2]
+            right_idx = indices[len(indices)//2:]
+
+        left_node = self._build_recursive(left_idx, max_leaf_size)
+        right_node = self._build_recursive(right_idx, max_leaf_size)
+        node = _BVHNode(node_bbox, left_node, right_node, start=0, count=0)
+        self.nodes.append(node)
+        return len(self.nodes) - 1