Visibility is a fundamental concept in computational geometry, with numerous applications in robotics, surveillance systems, video games, and other fields. This software paper presents T\v{r}iVis, a C++ library developed by the authors for computing numerous visibility-related queries in highly complex polygonal environments. Adapting the triangular expansion algorithm (TEA), T\v{r}iVis 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, T\v{r}iVis has been benchmarked against existing visibility libraries. The results demonstrate that T\v{r}iVis outperforms the competing solutions by at least an order of magnitude in query times, while exhibiting more reliable runtime behavior. T\v{r}iVis is freely available for private, research, and institutional use at https://github.com/janmikulacz/trivis.

翻译：可见性是计算几何学中的一个基本概念，在机器人学、监控系统、视频游戏及其他众多领域具有广泛应用。本文介绍TřiVis，这是一个由作者开发的C++库，用于在高度复杂的多边形环境中执行多种可见性相关查询。通过采用三角扩展算法（TEA），TřiVis成为一个通用、高性能、更可靠且易于使用的替代方案，相较于现有解决方案，它无需依赖繁重的第三方库，同时保持了卓越性能。通过在具有挑战性的数据集上进行评估，TřiVis与现有可见性库进行了基准测试。结果表明，在查询时间上，TřiVis至少比竞争解决方案快一个数量级，同时展现出更可靠的运行时行为。TřiVis可在https://github.com/janmikulacz/trivis 免费获取，供个人、研究及机构使用。