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 trees are collidable, measurable and detectable objects. This means that OC trees:
OC trees can be added to the scene with [Menu bar --> Add --> OC tree], and edited via the OC tree properties.
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.