Examples

The following examples show how distance3d can be used.

AABB Tree

Robot

Robot

AABB Tree

AABB Tree

Containment Tests

Sphere Containment

Sphere Containment

Box Containment

Box Containment

Mesh Containment

Mesh Containment

Cone Containment

Cone Containment

Ellipsoid Containment

Ellipsoid Containment

Capsule Containment

Capsule Containment

Cylinder Containment

Cylinder Containment

Distance

Distance from point to triangle

Distance from point to triangle

Distance from point to line

Distance from point to line

Distance from point to line segment

Distance from point to line segment

Distance from point to plane

Distance from point to plane

Distance from point to rectangle

Distance from point to rectangle

Distance from point to box

Distance from point to box

Distance from point to ellipsoid

Distance from point to ellipsoid

Distance from line to triangle

Distance from line to triangle

Distance from point to disk

Distance from point to disk

Distance from line segment to box

Distance from line segment to box

Distance from point to circle

Distance from point to circle

Distance from line to line segment

Distance from line to line segment

Distance from line segment to triangle

Distance from line segment to triangle

Distance between line and circle

Distance between line and circle

Distance from line segment to circle

Distance from line segment to circle

Distance from point to cylinder

Distance from point to cylinder

Distance from plane to triangle

Distance from plane to triangle

Distance from line to line

Distance from line to line

Distance between two disks

Distance between two disks

Distance between two triangles

Distance between two triangles

Distance from line to rectangle

Distance from line to rectangle

Distance from plane to plane

Distance from plane to plane

Distance from line segment to rectangle

Distance from line segment to rectangle

Distance from point to box

Distance from point to box

Distance from line to plane

Distance from line to plane

Distance from plane to rectangle

Distance from plane to rectangle

Distance from triangle to rectangle

Distance from triangle to rectangle

Distance from plane to ellipsoid

Distance from plane to ellipsoid

Distance from line segment to plane

Distance from line segment to plane

Distance from plane to cylinder

Distance from plane to cylinder

Distance between two rectangles

Distance between two rectangles

Distance from line to box

Distance from line to box

Distance from line segment to line segment

Distance from line segment to line segment

Distance from rectangle to box

Distance from rectangle to box

GJK

Distance between spheres with GJK

Distance between spheres with GJK

Distance between ellipses with GJK

Distance between ellipses with GJK

Distance between boxes with GJK

Distance between boxes with GJK

Distance between convex meshes with GJK

Distance between convex meshes with GJK

Distance between ellipsoids with GJK

Distance between ellipsoids with GJK

Distance between cylinders with GJK

Distance between cylinders with GJK

Distance between capsules with GJK

Distance between capsules with GJK

Plot Samples from Minkowski Difference

Plot Samples from Minkowski Difference

Collision resolution with EPA after GJK

Collision resolution with EPA after GJK

Visualizations

Visualize Tetrahedral Mesh

Visualize Tetrahedral Mesh

Hand as tetrahedral mesh

Hand as tetrahedral mesh

Visualize Intersection of Tetrahedra

Visualize Intersection of Tetrahedra

Visualize Subdivision of the AABB Tree

Visualize Subdivision of the AABB Tree

Benchmark collision detection for boxes

Benchmark collision detection for boxes

Benchmark collision detection for disks

Benchmark collision detection for disks

Benchmark collision detection for ellipses

Benchmark collision detection for ellipses

Physical simulation with collision detection

Physical simulation with collision detection

Benchmark collision detection for cones

Benchmark collision detection for cones

Benchmark collision detection for ellipsoids

Benchmark collision detection for ellipsoids

Benchmark collision detection for capsules

Benchmark collision detection for capsules

Benchmark collision detection for cylinders

Benchmark collision detection for cylinders

Visualize pressure fields with different young’s moduli

Visualize pressure fields with different young's moduli

Benchmark collision detection for meshes

Benchmark collision detection for meshes

Self-collisions of a robot

Self-collisions of a robot

Visualize Pressure Field of Two Colliding Objects

Visualize Pressure Field of Two Colliding Objects

Physical Simulation of Bouncing Ball

Physical Simulation of Bouncing Ball

Closest Points with GJK

Closest Points with GJK

Physical Simulation of Bouncing Ball on Hand

Physical Simulation of Bouncing Ball on Hand

Collisions between robot and environment

Collisions between robot and environment

Physical Simulation of Soft Balls Bouncing in a Wooden Box

Physical Simulation of Soft Balls Bouncing in a Wooden Box

Visualize Pressure Fields of Moving Object

Visualize Pressure Fields of Moving Object

Planar Algorithms

Halfplane Intersection

Halfplane Intersection