3d-space-query

Planned development work:

• add a JS version of the single-threaded implementation
• add a WASM verion of the single-threaded implementation
• add basic UTs monitoring the different implementations' correctness
  • JS implementation (single-threaded)
  • WASM implementation (single-threaded)
• add basic script running benchmark tasks against different implmenetations. And set up intuitive speed/performance expectation.
  • in term of speed:
    • multi-threaded is faster than single threaded
    • wasm is faster than JS (wasm searching is significantly slower in browser at this moment, needs further investigation.)
    • performance gain grows as the input scales up
  • in term of memory usage:
    • multi-threaded uses more than single-threaded
    • wasm uses more than JS
• migrate benchmarking code to web worker
• replace CMake with Bazel
• introduce emscripten docker for building wasm module
• enrich the supported geometric query
  • initial support: aabb
  • later support: ray
• add a multi-threaded implementation in JS
  • build
  • search - optional
• add a multi-threaded implementation in wasm (might replace the single threaded wasm implementation if possible)
  • build
  • search - optional
• (bonus) migrate multi-threaded implementations to GPU if possible

Example Screenshots:

• index 5000 boxes + check 50000 targets

• index 50000 boxes + check 50000 targets

• index 100000 boxes + check 50000 targets