Octree

Is there an octree package for Common Lisp? I.e. something that would allow setting voxel on/off and then do A-star on resulting big cubes.

So basically I need following, but optimized:

octree D = H:log 2 D | int = T:0
= p2i:<[X Y Z] = Z*4+Y*2+X>
= o get:<P = with D P T <:descend L P T = !L%2
             = T,<S:int?=S; T = I: p2i P%L = P: mod P L = descend L P T,I>
             >>
    set:<P V = !T: with D P T <:descend L P T = !L%2
               = T,<S:int? = {ptrEq L 0 |v ptrEq V S = V; vec 8 I:S | r}
                   ;T = I: p2i P%L = P: mod P L
                      = R: descend L P T,I = R,<[X:int?@(?|all:Y ptrEq X Y)]=!R:X>
                      = aset I R T = T>
               >>



I cant believe there is no octree implementation. It isn't much longer than a factorial.