Improved Binary Space Partition merging

This paper presents a new method for evaluating boolean set operations between Binary Space Partition (BSP) trees. Our algorithm has many desirable features, including both numerical robustness and O(n) output sensitive time complexity, while simultaneously admitting a straightforward implementation. To achieve these properties, we present two key algorithmic improvements. The first is a method for eliminating null regions within a BSP tree using linear programming. This replaces previous techniques based on polygon cutting and tree splitting. The second is an improved method for compressing BSP trees based on a similar approach within binary decision diagrams. The performance of the new method is analyzed both theoretically and experimentally. Given the importance of boolean set operations, our algorithms can be directly applied to many problems in graphics, CAD and computational geometry.