add intersection of two AABB_tree and parallel build 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): Fixes Parallel version of AABB_tree<Tr>::build() #867
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

…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

…tions from the review

sloriot · 2026-08-06T12:39:29Z

+            typename OutputIterator,
+            typename NamedParameters1 = parameters::Default_named_parameters,
+            typename NamedParameters2 = parameters::Default_named_parameters>
+  void all_pairs_of_intersecting_primitives(const AABBTree1 &tree1,


How are datum intersection tested? Should come from a traits. Are tree traits intersection function used? If so it should be documented

Tree traits are used, we can discussed the possibility to provide another traits through named parameters.

Then it is should be documented! primitive vs bbox is already working according to the traits but nothing about Datum1 vs Datum2 ( or Datum/Datum for the self version)

sloriot · 2026-08-06T12:48:24Z

+
+/*!
+ * \ingroup PkgAABBTreeRef
+ * Primitive type that uses as identifier an iterator with a range of three indices as `value_type`.


Suggested change

* Primitive type that uses as identifier an iterator with a range of three indices as `value_type`.

* Primitive type that uses as identifier an iterator with a range of triplet of indices as `value_type`.

really range of triple @sloriot ??

sloriot · 2026-08-06T12:49:23Z

+/*!
+ * \ingroup PkgAABBTreeRef
+ * Primitive type that uses as identifier an iterator with a range of three indices as `value_type`.
+ * The iterator from which the primitive is built should not be invalided


you are using an index internally. Why not directly an size_t?

sloriot · 2026-08-06T12:54:24Z

I still do not see the replacement with new code in Rigid_triangle_mesh_collision_detection

afabri · 2026-08-06T13:27:29Z

-intersecting pairs of objects. We refer to the component
-\ref chapterBoxIntersection "Intersecting Sequences of dD Iso-oriented Boxes"
-which can find all intersecting pairs of iso-oriented boxes.
+Similarly to the package \ref chapterBoxIntersection "Intersecting Sequences of dD Iso-oriented Boxes",


I am not sure, but does the ref command not automatically put the text here?

afabri · 2026-08-06T13:29:22Z

+\subsection aabb_tree_examples_9 Intersection of Two Trees
+
+In the following example, we compute all the intersections between two tetrahedra. The tetrahedra
+are stored as a vector of `Triangle_3`. We first compute if the tetrahedra do intersect and then we


So four of such triangles form one tetrahedron ????

yes, is it not clear?

Well, we have a class Tetahedron_3.

I think it is better to use something more generic than Tetrahedron_3 in an example.

maybe say two triangle soups/meshes both representing a tetrahedron (if that's Andreas' point)

afabri · 2026-08-06T13:51:31Z

+                  PrimitiveIterator beyond,
+                  const CGAL::Bbox_3& bbox) const
+  {
+    auto longest_axis=[](const CGAL::Bbox_3& bbox){


Could also go in Bbox_2/3

afabri · 2026-08-06T13:52:58Z

+                               get_const_property_map(vertex_point, tm2));
+
+    // Custom build functor using pointers
+    // TODO THIS IS SURFACE MESH SPECIFIC


Maybe grep for your todo, Todo, TODO

Co-authored-by: Sebastien Loriot <sloriot.ml@gmail.com> Co-authored-by: Andreas Fabri <andreas.fabri@geometryfactory.com>

… into AABB-add_parallellization

…formation instead to test intersection of the BBs of OBBs

sloriot · 2026-08-17T17:53:02Z

PMP/tests fails + red CI

LeoValque added 3 commits May 28, 2026 13:46

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

LeoValque added 6 commits July 1, 2026 15:22

Tree construction benchmarks

827401b

Parallelization of kd-tree construction in AABB-tree

17aaeb3

Update performance in the user manual and apply first patch of sugges…

38b4eb9

…tions from the review

Second patch of suggestion from the review

6c8a889

Solve a unused warning when not link with TBB

d4a984e

Update documentation

b533687

This comment was marked as outdated.

Sign in to view

Add figure of documentation

c1cec3c

sloriot reviewed Aug 6, 2026

View reviewed changes

Comment thread AABB_tree/include/CGAL/AABB_trees/intersection.h Outdated

sloriot reviewed Aug 6, 2026

View reviewed changes

Comment thread AABB_tree/include/CGAL/AABB_trees/intersection.h Outdated

sloriot reviewed Aug 6, 2026

View reviewed changes

Comment thread AABB_tree/include/CGAL/AABB_trees/intersection.h Outdated

sloriot reviewed Aug 6, 2026

View reviewed changes

MaelRL added Not yet approved The feature or pull-request has not yet been approved. Small feature CHANGES.md not updated labels Aug 6, 2026

afabri requested changes Aug 6, 2026

View reviewed changes

LeoValque and others added 4 commits August 10, 2026 09:28

Apply suggestions from code review

7b22845

Co-authored-by: Sebastien Loriot <sloriot.ml@gmail.com> Co-authored-by: Andreas Fabri <andreas.fabri@geometryfactory.com>

Apply suggestions from the review

7b36e62

missing include

05e20f3

import change log from SF

c056448

sloriot added pre-approved For pre-approved small features. After 15 days the feature will be accepted. Check size and removed CHANGES.md not updated labels Aug 10, 2026

LeoValque added 5 commits August 12, 2026 17:21

Use new two trees intersection in Rigid collision

4a1de3f

Merge branch 'AABB-add_parallellization' of github.com:LeoValque/cgal…

edbfbf1

… into AABB-add_parallellization

Fix an error in side_of_triangle_mesh

fb25dc1

Update wrong assert

1e9082a

Compute intersection of two OBB directly in AABB traversal with trans…

9961563

…formation instead to test intersection of the BBs of OBBs

sloriot added Tests failing and removed Under Testing labels Aug 17, 2026

LeoValque added 2 commits August 18, 2026 11:04

Solve unfound mesh error

2dd6f02

Remove unwanted leftover

5123e91

sloriot added Under Testing and removed Tests failing labels Aug 18, 2026

	* Primitive type that uses as identifier an iterator with a range of three indices as `value_type`.
	* Primitive type that uses as identifier an iterator with a range of triplet of indices as `value_type`.

Uh oh!

Conversation

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

Uh oh!

Summary of Changes

Todo

Release Management

Uh oh!

LeoValque commented Jun 11, 2026

Uh oh!

github-actions Bot commented Jun 11, 2026

Uh oh!

This comment was marked as outdated.

This comment was marked as outdated.

Uh oh!

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

sloriot Aug 6, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

sloriot commented Aug 6, 2026

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

sloriot commented Aug 17, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

4 participants

LeoValque commented May 28, 2026 •

edited by sloriot

Loading

sloriot Aug 6, 2026 •

edited

Loading