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void _integrity_check_all() {
#ifdef BVH_INTEGRITY_CHECKS
for (int n = 0; n < NUM_TREES; n++) {
uint32_t root = _root_node_id[n];
if (root != BVHCommon::INVALID) {
_integrity_check_down(root);
}
}
#endif
}
void _integrity_check_up(uint32_t p_node_id) {
TNode &node = _nodes[p_node_id];
BVHABB_CLASS abb = node.aabb;
node_update_aabb(node);
BVHABB_CLASS abb2 = node.aabb;
abb2.expand(-_node_expansion);
CRASH_COND(!abb.is_other_within(abb2));
}
void _integrity_check_down(uint32_t p_node_id) {
const TNode &node = _nodes[p_node_id];
if (node.is_leaf()) {
_integrity_check_up(p_node_id);
} else {
CRASH_COND(node.num_children != 2);
for (int n = 0; n < node.num_children; n++) {
uint32_t child_id = node.children[n];
// check the children parent pointers are correct
TNode &child = _nodes[child_id];
CRASH_COND(child.parent_id != p_node_id);
_integrity_check_down(child_id);
}
}
}
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