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:
Point clouds can be added to the scene with [Menu bar --> 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.