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facebookresearch / nocturne

A data-driven, fast driving simulator for multi-agent coordination under partial observability.
MIT License
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Improve space usage of RangeTree2d #53

Closed xiaomengy closed 1 year ago

xiaomengy commented 1 year ago

This PR improve the space usage of RangeTree2d. The outer tree of RangeTree2d is a non-recursive segment tree. Previously we padded the segment tree size to 2^n. Since there is no binary search operation on the tree, so there is no need to do this padding.