Up: Directory of Computational Geometry Software
Robotics
I_COLLIDE
Collision detection library for moving convex polyhedra. Uses properties
of convexity and coherence between simulation time steps to
get fast and accurate results. Has been used in a number of
applications.
For more information, links to technical papers, and pointers to the code,
look at the Web page.
By Jon Cohen, Ming C. Lin, Dinesh Manocha, and M.K. Ponamgi at U. North Carolina,
and Brian Mirtich and John Canny at U.C. Berkeley.
Canny-Lin collision detection
The original C implementation of the
Canny-Lin collision detection algorithm by
Brian Mirtich
is available from
Berkeley.
RAPID
One-shot collision detection for sets of triangles in 3D.
Fast and small.
The OBB algorithm, described in a recent Siggraph paper, uses
a hierarchy of arbitrarily oriented bounding boxes.
By S. Gottschalk,
Ming Lin,
and Dinesh Manocha,
at UNC.
Info, C++ source code and paper available from the
Web page.
Also check out
the collision detection program for convex polytopes by Rabbitz in
Graphics Gems IV.
Constraint solver
A very classy
geometric constraint solver, embedded in a mechanical design tool,
which you can
look at
on the Web. Lots of theoretical and
practical information on constraint solving.
By Chris Hoffman, Willaim Bouma, Xiangping Chen, Ioannis Fudos,
and Pamela J. Vermeer, at Purdue.
Euslisp is a robotics testbed
written in LISP.
Robot localization
Software to enter a polygonal
map and solve the Robot Localization Problem,
which is to decide where a robot is located based on the visibility
polygon it can `see' as it moves around, is available by email.
In C++ and LEDA.
See the
Web site describing the project for more details.
By Hartmut Noltemeier, Oliver Karch and others at the University of Wuerzburg.
Up: Directory of Computational Geometry Software
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