Efficient Probabilistic 3D Mapping Framework Based on Octrees
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++ particularly suited for robotics. The map implementation is based on an octree.
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Library for collision detection between convex shapes
libccd implements variation on Gilbert-Johnson-Keerthi (GJK) algorithm + Expand Polytope Algorithm (EPA). It also implements Minkowski Portal Refinement (MPR, a.k.a. XenoCollide) algorithm as published in Game Programming Gems 7.
FCL is a library for performing three types of proximity queries on a pair of geometric models composed of triangles. * Collision detection: detecting whether the two models overlap, and optionally, all of the triangles that overlap. * Distance computation: computing the minimum distance between a pair of models, i.e., the distance between the closest pair of points. * Tolerance verification: determining whether two models are closer or farther than a tolerance distance. * Continuous collision detection: detecting whether the two moving models overlap during the movement, and optionally, the time of contact. * Contact information: for collision detection and continuous collision detection, the contact information (including contact normals and contact points) can be returned optionally.