Optimize iterative search

src/acceleration_data.rs

@@ -96,7 +96,7 @@ impl<'a> AccelerationData<'a> {
         if self.recursive {
             self.traverse_tree_recursively(f, 0);
         } else {
-            self.traverse_tree_iteratively(f);
+            self.traverse_tree_iteratively(f, 0);
         }
     }
 
@@ -117,42 +117,31 @@ impl<'a> AccelerationData<'a> {
         }
     }
 
-    fn traverse_tree_iteratively<F>(&self, f: &mut F)
+    fn traverse_tree_iteratively<F>(&self, f: &mut F, index: usize)
     where
         F: FnMut(usize, &AABB) -> bool,
     {
-        let mut discovered = vec![false; 1024];
         let mut stack = Vec::new();
 
         // push root node
-        stack.push(0);
+        stack.push(index);
 
         while !stack.is_empty() {
             let v = stack.pop().unwrap();
 
-            if discovered[v] {
-                continue;
-            }
-
-            discovered[v] = true;
-
             if (*f)(v, &self.data[v]) {
                 let left_child = self.data[v].left_child;
                 if left_child != -1 {
-                    if !discovered[left_child as usize] {
                     stack.push(left_child as usize);
                 }
-                }
 
                 let right_child = self.data[v].right_child;
                 if right_child != -1 {
-                    if !discovered[right_child as usize] {
                     stack.push(right_child as usize);
                 }
             }
         }
     }
-    }
 
     fn create_leaf_nodes(input_data: &[Triangle], triangles_per_as: u32) -> Vec<AABB> {
         let mut acceleration_data = Vec::new();