fixed warning
Made robot fire lots more rockets.
Made a visualizer to help develop new tree structure
Implemented search function (compiles, untested)
Instantiated search, fixed errors (compiles, fails to run)
Fixed search function to run (unknown if it works)
Reported some numbers after doing test scenarios
Fixed some bugs, optimized a bit.

There is clearly some bug in the search function (or
   the insert function), because I get different
   numbers of overlaps for different values of
    MIN_NICE_NODE_SIZE.
Fixed bugs, added checks

The search function seems to work now!
At least, its behavior is consistent even when I
   change MIN_NICE_NODE_SIZE.
It's taking about 5 microseconds per search in the
   2d test scenario on my computer.
Enabled the 3d test scenario.

It currently takes about 3/2 as long to do the searches
   as it does for the 2d test scenario, and a bit
   longer to do the insertion as well.
Note that the 3d test scenario currently, by
   coincidence, has somewhat fewer objects in it
   (about 35000 vs 39000).