add intersection of two AABB_tree by LeoValque · Pull Request #9501 · CGAL/cgal

LeoValque · 2026-05-28T11:55:13Z

Summary of Changes

Add a parallellization of AABB_tree::build() (without any mutex) to improve running time.

Add PMP::AABB_self_intersections(), a variant of PMP::self_intersections() that used an AABB_tree instead of CGAL::box_intersection_d.

Todo

Add proper benchmark

Release Management

Affected package(s): AABB_tree
Issue(s) solved (if any):
Feature/Small Feature (if any): https://cgalwiki.geometryfactory.com/CGAL/Members/wiki/Features/Small_Features/Intersection_of_AABB_tree_and_parallellization_of_AABB_tree_building
Link to compiled documentation (obligatory for small feature) wrong link name to be changed
License and copyright ownership: GF

…different

…nto AABB-add_paralllellization

…ntersection of meshes

…output iterator

…ersecting_primtives

LeoValque · 2026-06-11T15:48:50Z

/build:v0

github-actions · 2026-06-11T15:52:19Z

The documentation is built. It will be available, after a few minutes, here: https://cgal.github.io/9501/v0/Manual/index.html

github-actions · 2026-07-03T14:39:35Z

The documentation is built. It will be available, after a few minutes, here: https://cgal.github.io/9501/v0/Manual/index.html

LeoValque · 2026-07-07T11:52:47Z

/force-build:v0

github-actions · 2026-07-07T11:56:43Z

The documentation is built. It will be available, after a few minutes, here: https://cgal.github.io/9501/v0/Manual/index.html

afabri

Do you plan to add a documented function in PMP?

afabri · 2026-07-07T14:35:49Z

+
+  bool do_intersect(const Query& query, const Node& node) const
+  {
+#if 1


LeoValque · 2026-07-07T15:00:51Z

Do you plan to add a documented function in PMP?

Not in this PR

…:AABB_trees to avoid parallel issues

…tion

sloriot · 2026-07-15T18:16:49Z

Successfully tested in CGAL-6.3-Ic-31

sloriot

You imported code from PMP but you left the code duplicated in PMP. Any reason why PMP shall not use the new code?

sloriot · 2026-07-16T08:01:36Z

+#if 1
+    return m_traits.do_intersect_object()(query, compute_transformed_bbox(node.bbox()));
+#else
+    return Convex_hull_3::do_intersect(query, node.bbox(), parameters::transformation(Aff_transformation_3<Kernel>(m_transfo)))


what's the conclusion on this one?

do_overlap(compute_ntransformed_bbox) is about 5× faster than do_intersect(bb1, bb2, transform), but both are still two orders of magnitude slower than do_overlap without a transformation.
The best solution would probably be to implement a specialized do_intersect function for a bounding box and an OBB.

shall you remove the #if?

sloriot · 2026-07-16T09:01:00Z

-    m_p_search_tree = std::make_unique<const Search_tree>(first, beyond);
+    std::unique_ptr<Search_tree> p_search_tree = std::make_unique<Search_tree>(first, beyond);
+    p_search_tree->template build<ConcurrencyTag>();
+    m_p_search_tree = std::move(p_search_tree);


why do you need a temporary variable?

because m_p_search_tree points a const and build() is not a const method.

sounds strange that you cannot call a function but can override it.

I don't override it.

p_search_tree is not const, so I can call build() without any issue. Once it's moved to m_p_search_tree, however, it becomes const.

Previously, build() was called from the constructor, but that doesn't allow me to pass the ConcurrencyTag. That's why I separated the build() call from the constructor.

sloriot · 2026-07-16T09:19:06Z

  return zmax() - zmin();
 }

+inline double Bbox_3::squared_diagonal_length() const {


I think there is a similar function used in the demo

Which demo?

If it is in the demo, it can be replaced as soon as the convenience function is added to Bbox_3.

github-actions · 2026-07-16T15:33:19Z

This pull-request was previously marked with the label Tested, but has been modified with new commits. That label has been removed.

afabri and others added 11 commits May 7, 2026 18:52

Combine two orientation tests in one with only the third point being …

3076b28

…different

fix and timer

613c369

Deal correctly with underflow/overflow

34e8912

Add #include

01c0d1b

Add operator to Homogeneous

4680634

Add operator to Homogeneous

5e6ff98

Fix determinants()

94aa198

Add documentation

2dafa20

Parallellized build of AABB_tree

c6f560e

alternative version of PMP::self_intersections using AABB

5fadfb6

Merge remote-tracking branch 'afabri/Kernel-combine_orientation-GF' i…

abca24c

…nto AABB-add_paralllellization

LeoValque changed the title ~~add parallellization of AABB_tree::build and add variant of PMP::self_intersections using AABB_tree~~ add variant of PMP::self_intersections using AABB_tree May 28, 2026

LeoValque added 2 commits May 28, 2026 16:46

add example and benchmark of AABB_self_intersections

a1fafcf

add AABB_meshes_intersections of two different meshes

11100ee

sloriot added the depends on another PR This pull-request should only be merged after other ones. label May 29, 2026

LeoValque added 12 commits June 2, 2026 17:37

Add two tree traversal intersection detection

13b741f

Two tree intersection of meshes and mixed AABB box_intersection for i…

9274515

…ntersection of meshes

Benchmark meshes intersection

572bb8e

Improvement of AABB two tree traversals

d570a86

Create a intersection meshes fonction using a callback instead of an …

2bbe6b5

…output iterator

Reorganize two_tree_traversal and AABB_two_tree_traversal_traits

68af801

Make API and Documentation of intersection of two AABB trees

2cebb83

Change traversal strategy to traverse biggest bbox first

233d5d3

Doc update

6d958a3

Add benchmark code in PMP

1fa9eb5

remove benchmark code of two tree traversal in AABB_tree

c9e7a5a

Add test for AABB_trees::do_intersect and AABB_trees::all_pair_of_int…

65a76ee

…ersecting_primtives

Tree construction benchmarks

827401b

LeoValque added the Speed label Jul 3, 2026

LeoValque added 3 commits July 6, 2026 20:29

Add transformation parameter to CGALL::AABB_trees::do_intersect()

7349667

Various cleanup

6021eba

aabb_two_trees_intersection.cpp

ca78bf8

LeoValque added 2 commits July 7, 2026 15:04

Solve check headers error

9ed3515

<CGAL/Bbox_3.h> in Primive_helper.h

a8f5d08

afabri requested changes Jul 7, 2026

View reviewed changes

sloriot added the Under Testing label Jul 7, 2026

LeoValque added 4 commits July 8, 2026 08:59

Use Aff_transformation_repC3 instead of Aff_transformation_3 in CGAL:…

7e992cb

…:AABB_trees to avoid parallel issues

Apply suggestions from the review

91af779

Merge remote-tracking branch 'origin/main' into AABB-add_parallelliza…

2e7ada2

…tion

Solved aabb_two_trees_intersection error

89b449b

LeoValque changed the title ~~add variant of PMP::self_intersections using AABB_tree~~ add intersection of two AABB_tree Jul 8, 2026

LeoValque added 3 commits July 9, 2026 09:10

Solved warnings and errors in the testsuite

ec68ced

Add primitives for AABB tree on a triangkle soup

13618f2

Solved unused warning in the testsuite

66db995

sloriot added Tested and removed Under Testing labels Jul 15, 2026

LeoValque requested review from MaelRL and sloriot July 16, 2026 06:46

sloriot reviewed Jul 16, 2026

View reviewed changes

afabri reviewed Jul 16, 2026

View reviewed changes

Comment thread AABB_tree/include/CGAL/AABB_tree.h

Apply suggestions from the review

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github-actions Bot removed the Tested label Jul 16, 2026

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LeoValque commented May 28, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Summary of Changes

Todo

Release Management

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LeoValque commented Jun 11, 2026

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LeoValque commented May 28, 2026 •

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