I know CGAL's AABB tree can store 3D polyhedral surfaces if the faces can be defined as triangles or tetrahedra. I also know CGAL supports alpha shapes, where 3D points could be turned into a 3D surface (using Delaunay triangulation). What I would like to know is if there is an easy way to insert a 3D shape defined by a list of 3D points and edges into an AABB tree (e.g., without having to list out separate tetrahedral and triangular faces)? Perhaps using an alpha shape?
CGAL AABB tree: Inserting arbitrarily shaped 3D polyhedral surfaces
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