Add Parent and childs category to body class

hello, how add whole category into body class? the code i got from google is

// add parent category class
add_filter('body_class','body_class_section');
function body_class_section($classes) {
    global $wpdb, $post;
    if (is_page()) {
        if ($post->post_parent) {
            $parent  = end(get_post_ancestors($current_page_id));
        } else {
            $parent = $post->ID;
        }
        $post_data = get_post($parent, ARRAY_A);
        $classes[] = 'parent-' . $post_data['post_name'];
    }
    return $classes;
}

But it only return last child category. i’d like to return from parent,child, child of child and so on category. how do i achieve this?

thank you