Barequet, GillChazelle, BernardGuibas, Leonidas J.Mitchell, Joseph S.B.Tal, Ayellet2014-10-212014-10-2119961467-8659https://doi.org/10.1111/1467-8659.1530387We introduce the boxtree, a versatile data structure for representing triangulated or meshed surfaces in 3D. A boxtree is a hierarchical structure of nested boxes that supports efficient ray tracing and collision detection. It is simple and robust, and requires minimal space. In situations where storage is at a premium, boxtrees are effective alternatives to octrees and BSP trees. They are also more flexible and efficient than R-trees, and nearly as simple to implement.10.1111/1467-8659.1530387387-396