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.
For a different collision detection program, check out Question 47 in the
comp.graphics.algorithms FAQ, where they point you to some
source code for
Proxima.
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.
Up: Directory of Computational Geometry Software
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Created: May 31 1995 ---
Last modified: Thu Jun 1 14:25:13 1995