export default function within(ids, coords, qx, qy, r, nodeSize) {
    const stack = [0, ids.length - 1, 0];
    const result = [];
    const r2 = r * r;

    while (stack.length) {
        const axis = stack.pop();
        const right = stack.pop();
        const left = stack.pop();

        if (right - left <= nodeSize) {
            for (let i = left; i <= right; i++) {
                if (sqDist(coords[2 * i], coords[2 * i + 1], qx, qy) <= r2) result.push(ids[i]);
            }
            continue;
        }

        const m = Math.floor((left + right) / 2);

        const x = coords[2 * m];
        const y = coords[2 * m + 1];

        if (sqDist(x, y, qx, qy) <= r2) result.push(ids[m]);

        const nextAxis = (axis + 1) % 2;

        if (axis === 0 ? qx - r <= x : qy - r <= y) {
            stack.push(left);
            stack.push(m - 1);
            stack.push(nextAxis);
        }
        if (axis === 0 ? qx + r >= x : qy + r >= y) {
            stack.push(m + 1);
            stack.push(right);
            stack.push(nextAxis);
        }
    }

    return result;
}

function sqDist(ax, ay, bx, by) {
    const dx = ax - bx;
    const dy = ay - by;
    return dx * dx + dy * dy;
}