Abstract: Methods, systems, and apparatus, including medium-encoded computer program products for rendering objects for display include: maintaining, by a computer having a display device and a local memory, a data structure in the local memory; receiving, by the computer, a request to render a current frame for display on the display device; sequentially determining, by the computer, nodes of a first set of current nodes that are associated with the current frame and that are already included in the data structure; in response to the determining, updating the data structure; and rendering, by the computer, the current frame for display on the display device based on the updated data structure.

Abstract: Methods, systems, and apparatus, including medium-encoded computer program products for rendering objects for display include: obtaining, by a computer having a display device and a local memory, a bounding volume hierarchy including nodes corresponding to a plurality of objects in a 3D model of an environment; by the computer, a queue data structure in the local memory of the computer; traversing, by the computer, the bounding volume hierarchy to add one or more nodes of the nodes of the bounding volume hierarchy to the queue data structure; and rendering, by the computer, the objects of the one or more nodes on the display device.