Generally speaking, stomach sleepers need more support from their mattress to keep their abdomen from caving into the mattress and creating an arch in their back, which contributes to back pain. Back sleepers require good lumbar support. Side sleepers should prioritize pressure relief in addition to spinal alignment.
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A quadtree reduces this: rebuild the tree each frame, and for each object, query only the nearby region. Objects in distant quadrants are never compared.