AABBTree | Pure Python implementation of d-dimensional AABB tree | Game Engine library

I'm trying to create an AABBTree structure where each node knows its parent and children.

Within my AABBTreeNode class, the parent is stored as a std::shared_ptr and the children as a std::vector>. This is done to avoid circular references as pointed out in this Stackoverflow post.

To add a new child I first calculate a valid bounding box and call the following function:

I am trying to create an AABBTree for checking in which triangle of a 2D mesh some points are. To do that, I am using CGAL, in particular, the Polygon_mesh_processing package and the location functions. However, this feels an impossible task to me.

Since I want to check several points and I care about performance, I want to build an AABB first. To do that, I need the PMP::build_AABB_tree function, which receives a mesh and the AABBTree.

In this particular case, the mesh is of type CGAL::Surface_mesh, with a Simple_cartersian kernel. The query points are also 2D. According to documentation, I need to provide a ReadablePropertyMap which converts my 2D points into 3D points.

I do this with the following: