A bounding volume hierarchy (BVH) is a tree structure on a set of geometric objects. All geometric objects, that form the leaf nodes of the tree, are wrapped in bounding volumes. These nodes are then grouped as small sets and enclosed within larger bounding volumes. These, in turn, are also grouped and enclosed within other larger bounding volumes in a recursive fashion, eventually resulting in a tree structure with a single bounding volume at the top of the tree. Bounding volume hierarchies are used to support several operations on sets of geometric objects efficiently, such as in collision detection and ray tracing. Although wrapping objects in bounding volumes and performing collision tests on them before testing the object geometry itself simplifies the tests and can result in significant performance improvements, the same number of pairwise tests between bounding volumes are still being performed. By arranging the bounding volumes into a bounding volume hierarchy, the time complexity (the number of tests performed) can be reduced to logarithmic in the number of objects. With such a hierarchy in place, during collision testing, children volumes do not have to be examined if their parent volumes are not intersected (for example, if the bounding volumes of two bumper cars do not intersect, the bounding volumes of the bumpers themselves would not have to be checked for collision). BVH design issues The choice of bounding volume is determined by a trade-off between two objectives. On the one hand, we would like to use bounding volumes that have a very simple shape. Thus, we need only a few bytes to store them, and intersection tests and distance computations are simple and fast. On the other hand, we would like to have bounding volumes that fit the corresponding data objects very tightly. One of the most commonly used bounding volumes is an axis-aligned minimum bounding box. The axis-aligned minimum bounding box for a given set of data objects is easy to compute, needs only few bytes of storage, and robust intersection tests are easy to implement and extremely fast. There are several desired properties for a BVH that should be taken into consideration when designing one for a specific application: The nodes contained in any given sub-tree should be near each other. The lower down the tree, the nearer the nodes should be to each other. Each node in the BVH should be of minimum volume. The