From 6a8f781c688f238c6fa6be5a9a2ba688f0f778e6 Mon Sep 17 00:00:00 2001
From: Michael Tao <michael.w.tao@gmail.com>
Date: Fri, 21 Aug 2026 19:23:56 -0400
Subject: [PATCH] fix: update quiver spatial API and Conan TBB config

---
 conanfile.py                                    |  3 +++
 .../include/balsa/scene_graph/BVHData.hpp       |  6 +++---
 visualization/src/scene_graph/BVHData.cpp       | 17 +++++++++--------
 3 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/conanfile.py b/conanfile.py
index 39de197..97f8653 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -16,6 +16,9 @@ class Balsa(ConanFile):
         "onetbb/2022.0.0",
     ]
 
+    def configure(self):
+        self.options["hwloc"].shared = True
+
     def generate(self):
         meson = MesonToolchain(self)
         meson.generate()
diff --git a/visualization/include/balsa/scene_graph/BVHData.hpp b/visualization/include/balsa/scene_graph/BVHData.hpp
index 112159c..c8f1751 100644
--- a/visualization/include/balsa/scene_graph/BVHData.hpp
+++ b/visualization/include/balsa/scene_graph/BVHData.hpp
@@ -113,9 +113,9 @@ class BVHData : public AbstractFeature {
   private:
     // ── BVH storage (one per K variant) ─────────────────────────────
 
-    quiver::spatial::BVH<3, 3> _bvh_3;
-    quiver::spatial::BVH<3, 9> _bvh_9;
-    quiver::spatial::BVH<3, 13> _bvh_13;
+    quiver::spatial::BVH<double, 3, 3> _bvh_3;
+    quiver::spatial::BVH<double, 3, 9> _bvh_9;
+    quiver::spatial::BVH<double, 3, 13> _bvh_13;
 
     int _bvh_height = -1;
 
diff --git a/visualization/src/scene_graph/BVHData.cpp b/visualization/src/scene_graph/BVHData.cpp
index 2ff4483..cf6a005 100644
--- a/visualization/src/scene_graph/BVHData.cpp
+++ b/visualization/src/scene_graph/BVHData.cpp
@@ -18,13 +18,13 @@ namespace balsa::scene_graph {
 
 // ── Collect BVH node bounds at a given tree depth ───────────────────
 
-template<int8_t SpatialDim, int8_t K, typename DirPolicy>
+template<typename T, int8_t SpatialDim, int8_t K, typename DirPolicy>
 static auto collect_bounds_at_depth(
-  const quiver::spatial::BVH<SpatialDim, K, DirPolicy> &bvh,
+  const quiver::spatial::BVH<T, SpatialDim, K, DirPolicy> &bvh,
   int target_depth)
-  -> std::vector<quiver::spatial::KDOP<SpatialDim, K, DirPolicy>> {
+  -> std::vector<quiver::spatial::KDOP<T, SpatialDim, K, DirPolicy>> {
 
-    using kdop_type = quiver::spatial::KDOP<SpatialDim, K, DirPolicy>;
+    using kdop_type = quiver::spatial::KDOP<T, SpatialDim, K, DirPolicy>;
     std::vector<kdop_type> result;
 
     if (!bvh.is_built() || bvh.node_count() == 0) return result;
@@ -56,7 +56,7 @@ static auto collect_bounds_at_depth(
 template<int8_t K, typename DirPolicy>
 static void set_kdop_wireframe(
   MeshData &mesh_data,
-  const std::vector<quiver::spatial::KDOP<3, K, DirPolicy>> &bounds,
+  const std::vector<quiver::spatial::KDOP<double, 3, K, DirPolicy>> &bounds,
   float uniform_color[4]) {
 
     std::vector<Vec3f> all_positions;
@@ -161,19 +161,20 @@ void BVHData::rebuild_bvh(MeshData &mesh_data) {
     config.max_leaf_size = max_leaf_size;
 
     if (kdop_k == 3) {
-        _bvh_3 = quiver::spatial::make_bvh<2, 3, 3>(mesh, pos, config);
+        _bvh_3 = quiver::spatial::make_bvh<double, 2, 3, 3>(mesh, pos, config);
         _bvh_height = _bvh_3.height();
         spdlog::info("Built AABB BVH: {} nodes, height {}",
                      _bvh_3.node_count(),
                      _bvh_height);
     } else if (kdop_k == 9) {
-        _bvh_9 = quiver::spatial::make_bvh<2, 3, 9>(mesh, pos, config);
+        _bvh_9 = quiver::spatial::make_bvh<double, 2, 3, 9>(mesh, pos, config);
         _bvh_height = _bvh_9.height();
         spdlog::info("Built 9-DOP BVH: {} nodes, height {}",
                      _bvh_9.node_count(),
                      _bvh_height);
     } else {
-        _bvh_13 = quiver::spatial::make_bvh<2, 3, 13>(mesh, pos, config);
+        _bvh_13 =
+          quiver::spatial::make_bvh<double, 2, 3, 13>(mesh, pos, config);
         _bvh_height = _bvh_13.height();
         spdlog::info("Built 13-DOP BVH: {} nodes, height {}",
                      _bvh_13.node_count(),