OC trees

An OC tree is an object that represents a spacial partitioning. It is made up by a tree data structure in which each node has exactly eight children. Occupied leaf nodes are represented as voxels. OC trees can be used to offer a simplified representation for shapes or point clouds, or can act as an occupancy grid/space:

[OC tree]


OC trees are collidable, measurable and detectable objects. This means that OC trees:

  • can be used in collision detections with other collidable objects.
  • can be used in minimum distance calculations with other measurable objects.
  • can be detected by proximity sensors.

    • OC trees can be added to the scene with [Add > OC tree], and edited via the OC tree dialog.

    The OC tree calculations (i.e. collision, distance and proximity sensor calculations) available in CoppeliaSim are also available as stand-alone routines via the Coppelia geometric routines.