Distance computation and collision detection in 3D.
Project description
distance3d
Distance computation and collision detection in 3D.
Features
- Fast collision detection and distance computation with GJK.
- Calculation of penetration depth with EPA.
- Various specific distance calculations for points, lines, line segments, planes, triangles, rectangles, circles, disks, boxes, cylinders, ellipsoids, ...
- Broad phase collision detection with bounding volume hierarchy (AABB tree).
- Self-collision detection for robots.
Installation
Install the package with
pip install -e .
or from PyPI with
pip install distance3d
Unit Tests
Install dependencies with
pip install -e .[test]
Run unit tests with
pytest
You will find the coverage report in htmlcov/index.html
.
API Documentation
Install dependencies with
pip install -e .[doc]
Build API documentation with
cd doc
make html
You will find the documentation in doc/build/html/index.html
.
Licenses
These implementations are mostly based on
- Christer Ericson: Real-Time Collision Detection, CRC Press, 2004.
- David H. Eberly: 3D Game Engine Design, CRC Press, 2006.
and accompanying implementations. These are marked as such.
The distance computation between a line and a circle is based on David Eberly's implementation, Copyright (c) 1998-2022 David Eberly, Geometric Tools, Redmond WA 98052, distributed under the Boost Software License, Version 1.0.
The GJK algorithm is a translation to Python of the translation to C of the original Fortran implementation. The C implementation is from Diego Ruspini. It is available from http://realtimecollisiondetection.net/files/gilbert.c
Some features related to the GJK algorithm have been inspired by Bullet (zlib license) and are marked as such in the source code.
The EPA algorithm is adapted from Kevin Moran's GJK implementation (MIT License or Unlicense).
The translation to Python has been done by Alexander Fabisch and the glue code around it is licensed under the 3-clause BSD license.
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