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:
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.