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.
acquired package info from repodata DB: repodata/1878cc60a19e65efc93d1a539275c5a6799b0acbd7796ee105712c44cae47ab4-primary.sqlite.bz2
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.
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.