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Changelog

2026-04 v3.2.1

Performance improvements

  • Better MemoryResource

2026-03 v3.2.0

New feature

  • Serialization support

2026-03 v3.1.1

Bugfixes

  • Memory resource could cause memory leak.
  • Typos in adapter headers.

Miscellaneous

  • Managed types now have a new constructor that takes only the bounding box and the depth.

2026-03 v3.1.0

New features

  • Static BVH linear core is added.

2026-03 v3.0.0

Major refactorization with large interface change.

Caution

RayIntersectedAll() has a new, toleranceIncrement parameter, which can be misinterpreted as maxExaminationDistance, causing false positive hits.

Interface changes

  • Geometric types and DIMENSION_NO moved into the BaseGeometryAdapter (formerly AdaptorGeneralBasics)
  • BASE_TOLERANCE is added to the BaseGeometryAdapter, and it is applied as default parameter.
  • TFloatScalar is introduced: integer based geometry calculation is very hectic. Internal calculation uses this type and tolerances.
  • EntityAdapter is introduced: this allows any type of system adoption. For more details see the EntityAdapter.
  • Configuration is introduced. For more details see the configuration.h.
  • Container types are renamed to Managed, and C postfix is changed to M
  • Split strategy is removed completely: Last iteration (single depth split) was an inferior solution in every aspect to the regular octree. Loose tree is introduces instead.
  • Visit*() functions are changed: TraverseNodesBreadthFirst()/TraverseNodesDepthFirst()/TraverseNodesByPriority(). Only one lambda is required which
    • input is NodeValue (currently std::pair<const NodeID, Node>, but do not rely on in long term), other API function are available to ask node geometry data and entities (GetNodeMinPoint(), GetNodeSize(), GetNodeEntities()).
    • must return TraverseControl enum to control the traverse.
  • Out of modelspace entities handling now is configurable. Default behavior is changed to allow.
    • Allow = true [Default]: OoM entities will be placed in the Root. Root bounding box will be changed to enclose the new entity.
    • Allow = false: OoM entity related operations will be failed, and no changes will be applied to the tree. (E.g. Insert/Update) Creation will be partial.
  • Insert() is changed: it will split the overflowed node.
    • InsertWithRebalance() is removed in favor of Insert().
    • InsertIntoLeaf() inherited the original behavior. An InsertionMode enum controls whether to be restricted to the existing nodes or create new ones.
    • Efficient bulk insert overload is added.
  • Query() function is added for complex combined queries: simultanious frustum culling, plane intersection, range search and custom tester.
  • Custom template EntityTester-s were added to queries. (Both entityID/Entity and geometry-related testers are allowed.)
  • RangeSearch() function is changes: isFullyContain template parameter is removed and RangeSearchMode enum is added as function parameter.
  • bool-flagged pararellism parameters are replaced with ExecutionTags.
  • Required adapter includes are added to the public headers. For custom include path, a build macro is available. (E.g. Eigen: #define ORTHOTREE_EIGEN_INCLUDE <my_vendor/Eigen/Geometry>)

New features

  • Static octree is implemented. Inmutable orthotree with contiguous memory layout.
  • Bulk Insert() for dynamic octree.
  • Loose octree option.
  • MBR node storage option.

Miscellaneous

  • Code is restructured from single to multi header structure.
  • Double precision is used in grid calculation for float32 based geometry with larger depth to avoid numerical issues.
  • RayInsersection functions was not prepared for fast-math compiler options, it is fixed.

Performance improvements

  • Loose octree has major performance advantage for picking.

2025-11 v2.7

Interface changes

  • GetNearestNeighbors()` supports boxes, and changed to be more numerically robust.
  • RayIntersected*() functions changed to be more numerically robust.

2025-05 v2.6

Interface changes

  • Exposing of Node's entities responsibility was moved to the Tree class
  • General split depth increasement strategy is removed. The one-level deeper solution is applied: DO_SPLIT_PARENT_ENTITIES
  • Default EntityID type is changed to uint32_t
  • Node::GetChildren() is a range now instead of std::vector
  • Naming issues aroung node's max element and max depth ID are solved
  • Distance sorted result requirement is added to GetNearestNeighbors()

Performance improvements

  • Box creation
  • Both the internal and between-tree version of CollisionDetection()
  • RayIntersectedFirst()
  • GetNearestNeighbors()

Miscellaneous

  • Automatic Benchmark is added
  • Children key storage is changed to bitflag for smaller dimensions.
  • W4 warning level

Bugfixes

  • Minor bugfixes in InsertWithRebalance()
  • Minor bugfix in GetNearestNeighbors()

New benchmarks

  • Creation for 6D points
  • GetNearestNeighbors() for 6D and 63D

2025-01-19 v2.5

Interface changes

  • std::execution is dropped from the interface. bool IS_PARALLEL_EXEC is used instead.
  • Id is replaced to Entity: CollectAllEntitiesInDFS/BFS EraseEntity

New features

  • InsertUnique() for unique insertion of points
  • RangeSearchNodes() for range search of nodes
  • BMI2 instruction set to enhance Morton Encode()/Decode() (Use AVX2)

Maintenance

  • Increased performance of GetNearestNeighbor()
  • AddAndRebalance and AddUnique is added to the Container

2025-01-14 v2.4

Refactorizations

  • Morton Z-order space indexing separation
  • Grid space indexing separation

Bugfixes

  • Container type move constructor fix

2024-12-26 v2.3

New features

  • Support of abstract classes

Refactorizations

  • Internal geometry module

2024-12-22 v2.2

New features

  • Allowing associative container type for the entity-geometries

Maintenance

  • Support compilers w/o std::execution (e.g. Apple Clang)

2024-07-28 v2.1

New features

  • Rebalancing insert
  • Removing empty nodes during Erase

2024-03-24 v2.0

New features

  • New adaptors: glm, boost, CGAL
  • Built-in Ray and Plane types

Refactorizations

  • New, more capable adaptor concept
  • Separated Adapator tests
  • Support of Eigen::Hyperplane and Eigen::ParametrizedLine
  • Support of Unreal Engine FRay, FPlane

Maintenance

  • GCC compile action
  • Fix a bug in Insert()

2024-03-02

New features

  • New adaptors: Eigen, Unreal Engine, XYZ
  • Plane related search and intersection check
  • Frustum culling
  • User-defined function for Collision detection
  • Depth-first search visitor

Refactorizations

  • Clang format and naming changes
  • entity_id_type and max_element_type are replaced with size_t
  • ID generation is removed

2024-01-16

  • Tolerance is added to the Ray intersection functions
  • Bugfixes

2023-01-11

  • Split strategy performance upgrade
  • GCC support
  • Bugfixes

2022-01-30 v1.0

New features

  • Container type
  • Split strategy for boundingbox-type tree
  • Collision detection inside the tree
  • Ray intersections
  • k-Nearest Neighbors

Maintenance

  • Benchmarks
  • Bugfixes

2021-04-26

  • First commits