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octrees
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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 [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.
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