TřiVis: Versatile, Reliable, and High-Performance Tool for Computing Visibility in Polygonal Environments

Visibility is a fundamental concept in computa- tional geometry, with numerous applications in surveillance, robotics, and games. This software paper presents TˇriVis, a C++ library developed by the authors for computing numerous visibility-related queries in highly complex polygonal environ- ments. Adapting the triangular expansion algorithm, TˇriVis stands out as a versatile, high-performance, more reliable and easy-to-use alternative to current solutions that is also free of heavy dependencies. Through evaluation on a challenging dataset, TˇriVis has been benchmarked against existing visibility libraries. The results demonstrate that TˇriVis outperforms the competing solutions by at least an order of magnitude in query times, while exhibiting more reliable runtime behavior. TˇriVis is freely available for private, research, and institutional use at https://github.com/janmikulacz/trivis.