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facontidavide / Bonxai

Fast, hierarchical, sparse Voxel Grid
Mozilla Public License 2.0
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Trversal #7

Closed jimbok8 closed 1 year ago

jimbok8 commented 1 year ago

Do you have any code/benchmarks for tree traversal? I am thinking of collision detection techniques where you need to traverse down 2 tree looking for intersections (narrowphase). Thanks Jim

facontidavide commented 1 year ago

By traversal, I think you mean iterating through all the active voxel (?)

If so, it is already one of the benchmarks

facontidavide commented 1 year ago

Also, if you want to do fast collision check of two trees, it is important to consider using the hierarchical bounding boxes to perform broad phase collision check.

(not documented yet, more details will be posted after ROSCon 2023).

By the end of the year (don't keep your breath) I might look into it.

tejalbarnwal commented 1 month ago

Also, if you want to do fast collision check of two trees, it is important to consider using the hierarchical bounding boxes to perform broad phase collision check. (not documented yet, more details will be posted after ROSCon 2023). By the end of the year (don't keep your breath) I might look into it.

@facontidavide , could you please elaborate on the method you suggested above for using the hierarchical bounding boxes to perform broad phase collision check? I am looking into to try bonxai for 3D planning with FCL and OMPL