A point cloud is an object that acts as an OC tree based container of points:
Point clouds are collidable, measurable and detectable objects. This means that point clouds:
can be used in collision detections with other collidable objects that are volume based, such as OC trees.
can be used in minimum distance calculations with other measurable objects.
can be detected by proximity sensors.
Point clouds can be added to the scene with [Add > Point cloud], and edited via the point cloud properties.
The point cloud calculations (i.e. collision, distance and proximity sensor calculations) available in CoppeliaSim are also available as stand-alone routines via the Coppelia geometric routines.