OpenGJK for C, C# and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space
Implementing a reliable algorithm for computing the distance between convex bodies is an involved and time-consuming task. Common applications of these algorithms include robot path planning, image rendering and collision detection. However, each application has strict requirements in terms of eithe...
| Main Authors: | , |
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| Format: | Journal article |
| Language: | English |
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Elsevier
2018
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| _version_ | 1826291636511965184 |
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| author | Montanari, M Petrinic, N |
| author_facet | Montanari, M Petrinic, N |
| author_sort | Montanari, M |
| collection | OXFORD |
| description | Implementing a reliable algorithm for computing the distance between convex bodies is an involved and time-consuming task. Common applications of these algorithms include robot path planning, image rendering and collision detection. However, each application has strict requirements in terms of either accuracy or speed, making the implementation less portable and more difficult. This paper introduces openGJK, a library for solving distance queries between convex bodies that are simply described by lists of points. OpenGJK features the fastest and most accurate version of the Gilbert–Johnson–Keerthi (GJK) algorithm published to date, is written in C, cross-platform and comes with interfaces for C# and Matlab. |
| first_indexed | 2024-03-07T03:02:23Z |
| format | Journal article |
| id | oxford-uuid:b163ee50-9294-4c8e-b893-b1992f0f5656 |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-07T03:02:23Z |
| publishDate | 2018 |
| publisher | Elsevier |
| record_format | dspace |
| spelling | oxford-uuid:b163ee50-9294-4c8e-b893-b1992f0f56562022-03-27T04:03:42ZOpenGJK for C, C# and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional spaceJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:b163ee50-9294-4c8e-b893-b1992f0f5656EnglishSymplectic Elements at OxfordElsevier2018Montanari, MPetrinic, NImplementing a reliable algorithm for computing the distance between convex bodies is an involved and time-consuming task. Common applications of these algorithms include robot path planning, image rendering and collision detection. However, each application has strict requirements in terms of either accuracy or speed, making the implementation less portable and more difficult. This paper introduces openGJK, a library for solving distance queries between convex bodies that are simply described by lists of points. OpenGJK features the fastest and most accurate version of the Gilbert–Johnson–Keerthi (GJK) algorithm published to date, is written in C, cross-platform and comes with interfaces for C# and Matlab. |
| spellingShingle | Montanari, M Petrinic, N OpenGJK for C, C# and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space |
| title | OpenGJK for C, C# and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space |
| title_full | OpenGJK for C, C# and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space |
| title_fullStr | OpenGJK for C, C# and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space |
| title_full_unstemmed | OpenGJK for C, C# and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space |
| title_short | OpenGJK for C, C# and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space |
| title_sort | opengjk for c c and matlab reliable solutions to distance queries between convex bodies in three dimensional space |
| work_keys_str_mv | AT montanarim opengjkforccandmatlabreliablesolutionstodistancequeriesbetweenconvexbodiesinthreedimensionalspace AT petrinicn opengjkforccandmatlabreliablesolutionstodistancequeriesbetweenconvexbodiesinthreedimensionalspace |