:orphan:

========
Examples
========

The following examples show how distance3d can be used.

.. contents:: :local:
    :depth: 1



.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    </div>

AABB Tree
---------



.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Plot AABB tree of a robot.">

.. only:: html

  .. image:: /_auto_examples/aabbtree/images/thumb/sphx_glr_plot_robot_thumb.png
    :alt: Robot

  :ref:`sphx_glr__auto_examples_aabbtree_plot_robot.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Robot</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Plot AABB tree.">

.. only:: html

  .. image:: /_auto_examples/aabbtree/images/thumb/sphx_glr_plot_aabbtree_thumb.png
    :alt: AABB Tree

  :ref:`sphx_glr__auto_examples_aabbtree_plot_aabbtree.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">AABB Tree</div>
    </div>


.. raw:: html

    </div>

Containment Tests
-----------------



.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Sphere Containment">

.. only:: html

  .. image:: /_auto_examples/containment_test/images/thumb/sphx_glr_plot_sphere_thumb.png
    :alt: Sphere Containment

  :ref:`sphx_glr__auto_examples_containment_test_plot_sphere.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Sphere Containment</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Box Containment">

.. only:: html

  .. image:: /_auto_examples/containment_test/images/thumb/sphx_glr_plot_box_thumb.png
    :alt: Box Containment

  :ref:`sphx_glr__auto_examples_containment_test_plot_box.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Box Containment</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Mesh Containment">

.. only:: html

  .. image:: /_auto_examples/containment_test/images/thumb/sphx_glr_plot_mesh_thumb.png
    :alt: Mesh Containment

  :ref:`sphx_glr__auto_examples_containment_test_plot_mesh.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Mesh Containment</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Cone Containment">

.. only:: html

  .. image:: /_auto_examples/containment_test/images/thumb/sphx_glr_plot_cone_thumb.png
    :alt: Cone Containment

  :ref:`sphx_glr__auto_examples_containment_test_plot_cone.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Cone Containment</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Ellipsoid Containment">

.. only:: html

  .. image:: /_auto_examples/containment_test/images/thumb/sphx_glr_plot_ellipsoid_thumb.png
    :alt: Ellipsoid Containment

  :ref:`sphx_glr__auto_examples_containment_test_plot_ellipsoid.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Ellipsoid Containment</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Capsule Containment">

.. only:: html

  .. image:: /_auto_examples/containment_test/images/thumb/sphx_glr_plot_capsule_thumb.png
    :alt: Capsule Containment

  :ref:`sphx_glr__auto_examples_containment_test_plot_capsule.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Capsule Containment</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Cylinder Containment">

.. only:: html

  .. image:: /_auto_examples/containment_test/images/thumb/sphx_glr_plot_cylinder_thumb.png
    :alt: Cylinder Containment

  :ref:`sphx_glr__auto_examples_containment_test_plot_cylinder.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Cylinder Containment</div>
    </div>


.. raw:: html

    </div>

Distance
--------


.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from point to triangle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_point_to_triangle_thumb.png
    :alt: Distance from point to triangle

  :ref:`sphx_glr__auto_examples_distance_plot_point_to_triangle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from point to triangle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from point to line">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_point_to_line_thumb.png
    :alt: Distance from point to line

  :ref:`sphx_glr__auto_examples_distance_plot_point_to_line.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from point to line</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from point to line segment">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_point_to_line_segment_thumb.png
    :alt: Distance from point to line segment

  :ref:`sphx_glr__auto_examples_distance_plot_point_to_line_segment.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from point to line segment</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from point to plane">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_point_to_plane_thumb.png
    :alt: Distance from point to plane

  :ref:`sphx_glr__auto_examples_distance_plot_point_to_plane.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from point to plane</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from point to rectangle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_point_to_rectangle_thumb.png
    :alt: Distance from point to rectangle

  :ref:`sphx_glr__auto_examples_distance_plot_point_to_rectangle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from point to rectangle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from point to box">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_point_to_box_thumb.png
    :alt: Distance from point to box

  :ref:`sphx_glr__auto_examples_distance_plot_point_to_box.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from point to box</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from point to ellipsoid">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_point_to_ellipsoid_thumb.png
    :alt: Distance from point to ellipsoid

  :ref:`sphx_glr__auto_examples_distance_plot_point_to_ellipsoid.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from point to ellipsoid</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line to triangle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_to_triangle_thumb.png
    :alt: Distance from line to triangle

  :ref:`sphx_glr__auto_examples_distance_plot_line_to_triangle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line to triangle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from point to disk">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_point_to_disk_thumb.png
    :alt: Distance from point to disk

  :ref:`sphx_glr__auto_examples_distance_plot_point_to_disk.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from point to disk</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line segment to box">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_segment_to_box_thumb.png
    :alt: Distance from line segment to box

  :ref:`sphx_glr__auto_examples_distance_plot_line_segment_to_box.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line segment to box</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from point to circle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_point_to_circle_thumb.png
    :alt: Distance from point to circle

  :ref:`sphx_glr__auto_examples_distance_plot_point_to_circle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from point to circle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line to line segment">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_to_line_segment_thumb.png
    :alt: Distance from line to line segment

  :ref:`sphx_glr__auto_examples_distance_plot_line_to_line_segment.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line to line segment</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line segment to triangle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_segment_to_triangle_thumb.png
    :alt: Distance from line segment to triangle

  :ref:`sphx_glr__auto_examples_distance_plot_line_segment_to_triangle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line segment to triangle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance between line and circle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_to_circle_thumb.png
    :alt: Distance between line and circle

  :ref:`sphx_glr__auto_examples_distance_plot_line_to_circle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance between line and circle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line segment to circle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_segment_to_circle_thumb.png
    :alt: Distance from line segment to circle

  :ref:`sphx_glr__auto_examples_distance_plot_line_segment_to_circle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line segment to circle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from point to cylinder">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_point_to_cylinder_thumb.png
    :alt: Distance from point to cylinder

  :ref:`sphx_glr__auto_examples_distance_plot_point_to_cylinder.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from point to cylinder</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from plane to triangle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_plane_to_triangle_thumb.png
    :alt: Distance from plane to triangle

  :ref:`sphx_glr__auto_examples_distance_plot_plane_to_triangle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from plane to triangle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line to line">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_to_line_thumb.png
    :alt: Distance from line to line

  :ref:`sphx_glr__auto_examples_distance_plot_line_to_line.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line to line</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance between two disks">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_disk_to_disk_thumb.png
    :alt: Distance between two disks

  :ref:`sphx_glr__auto_examples_distance_plot_disk_to_disk.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance between two disks</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance between two triangles">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_triangle_to_triangle_thumb.png
    :alt: Distance between two triangles

  :ref:`sphx_glr__auto_examples_distance_plot_triangle_to_triangle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance between two triangles</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line to rectangle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_to_rectangle_thumb.png
    :alt: Distance from line to rectangle

  :ref:`sphx_glr__auto_examples_distance_plot_line_to_rectangle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line to rectangle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from plane to plane">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_plane_to_plane_thumb.png
    :alt: Distance from plane to plane

  :ref:`sphx_glr__auto_examples_distance_plot_plane_to_plane.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from plane to plane</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line segment to rectangle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_segment_to_rectangle_thumb.png
    :alt: Distance from line segment to rectangle

  :ref:`sphx_glr__auto_examples_distance_plot_line_segment_to_rectangle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line segment to rectangle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from point to box">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_plane_to_box_thumb.png
    :alt: Distance from point to box

  :ref:`sphx_glr__auto_examples_distance_plot_plane_to_box.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from point to box</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line to plane">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_to_plane_thumb.png
    :alt: Distance from line to plane

  :ref:`sphx_glr__auto_examples_distance_plot_line_to_plane.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line to plane</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from plane to rectangle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_plane_to_rectangle_thumb.png
    :alt: Distance from plane to rectangle

  :ref:`sphx_glr__auto_examples_distance_plot_plane_to_rectangle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from plane to rectangle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from triangle to rectangle">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_triangle_to_rectangle_thumb.png
    :alt: Distance from triangle to rectangle

  :ref:`sphx_glr__auto_examples_distance_plot_triangle_to_rectangle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from triangle to rectangle</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from plane to ellipsoid">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_plane_to_ellipsoid_thumb.png
    :alt: Distance from plane to ellipsoid

  :ref:`sphx_glr__auto_examples_distance_plot_plane_to_ellipsoid.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from plane to ellipsoid</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line segment to plane">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_segment_to_plane_thumb.png
    :alt: Distance from line segment to plane

  :ref:`sphx_glr__auto_examples_distance_plot_line_segment_to_plane.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line segment to plane</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from plane to cylinder">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_plane_to_cylinder_thumb.png
    :alt: Distance from plane to cylinder

  :ref:`sphx_glr__auto_examples_distance_plot_plane_to_cylinder.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from plane to cylinder</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance between two rectangles">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_rectangle_to_rectangle_thumb.png
    :alt: Distance between two rectangles

  :ref:`sphx_glr__auto_examples_distance_plot_rectangle_to_rectangle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance between two rectangles</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line to box">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_to_box_thumb.png
    :alt: Distance from line to box

  :ref:`sphx_glr__auto_examples_distance_plot_line_to_box.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line to box</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from line segment to line segment">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_line_segment_to_line_segment_thumb.png
    :alt: Distance from line segment to line segment

  :ref:`sphx_glr__auto_examples_distance_plot_line_segment_to_line_segment.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from line segment to line segment</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance from rectangle to box">

.. only:: html

  .. image:: /_auto_examples/distance/images/thumb/sphx_glr_plot_rectangle_to_box_thumb.png
    :alt: Distance from rectangle to box

  :ref:`sphx_glr__auto_examples_distance_plot_rectangle_to_box.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance from rectangle to box</div>
    </div>


.. raw:: html

    </div>

GJK
---


.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance between spheres with GJK">

.. only:: html

  .. image:: /_auto_examples/gjk/images/thumb/sphx_glr_plot_spheres_thumb.png
    :alt: Distance between spheres with GJK

  :ref:`sphx_glr__auto_examples_gjk_plot_spheres.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance between spheres with GJK</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance between ellipses with GJK">

.. only:: html

  .. image:: /_auto_examples/gjk/images/thumb/sphx_glr_plot_ellipse_thumb.png
    :alt: Distance between ellipses with GJK

  :ref:`sphx_glr__auto_examples_gjk_plot_ellipse.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance between ellipses with GJK</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance between boxes with GJK">

.. only:: html

  .. image:: /_auto_examples/gjk/images/thumb/sphx_glr_plot_box_thumb.png
    :alt: Distance between boxes with GJK

  :ref:`sphx_glr__auto_examples_gjk_plot_box.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance between boxes with GJK</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance between convex meshes with GJK">

.. only:: html

  .. image:: /_auto_examples/gjk/images/thumb/sphx_glr_plot_convex_mesh_thumb.png
    :alt: Distance between convex meshes with GJK

  :ref:`sphx_glr__auto_examples_gjk_plot_convex_mesh.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance between convex meshes with GJK</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance between ellipsoids with GJK">

.. only:: html

  .. image:: /_auto_examples/gjk/images/thumb/sphx_glr_plot_ellipsoids_thumb.png
    :alt: Distance between ellipsoids with GJK

  :ref:`sphx_glr__auto_examples_gjk_plot_ellipsoids.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance between ellipsoids with GJK</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance between cylinders with GJK">

.. only:: html

  .. image:: /_auto_examples/gjk/images/thumb/sphx_glr_plot_cylinder_thumb.png
    :alt: Distance between cylinders with GJK

  :ref:`sphx_glr__auto_examples_gjk_plot_cylinder.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance between cylinders with GJK</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Distance between capsules with GJK">

.. only:: html

  .. image:: /_auto_examples/gjk/images/thumb/sphx_glr_plot_capsules_thumb.png
    :alt: Distance between capsules with GJK

  :ref:`sphx_glr__auto_examples_gjk_plot_capsules.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Distance between capsules with GJK</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Plot Samples from Minkowski Difference">

.. only:: html

  .. image:: /_auto_examples/gjk/images/thumb/sphx_glr_plot_minkowski_samples_thumb.png
    :alt: Plot Samples from Minkowski Difference

  :ref:`sphx_glr__auto_examples_gjk_plot_minkowski_samples.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Plot Samples from Minkowski Difference</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Collision resolution with EPA after GJK">

.. only:: html

  .. image:: /_auto_examples/gjk/images/thumb/sphx_glr_plot_collision_resolution_epa_thumb.png
    :alt: Collision resolution with EPA after GJK

  :ref:`sphx_glr__auto_examples_gjk_plot_collision_resolution_epa.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Collision resolution with EPA after GJK</div>
    </div>


.. raw:: html

    </div>

Visualizations
--------------



.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Visualize Tetrahedral Mesh">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_tetrahedral_mesh_thumb.png
    :alt: Visualize Tetrahedral Mesh

  :ref:`sphx_glr__auto_examples_visualizations_vis_tetrahedral_mesh.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Visualize Tetrahedral Mesh</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Hand as tetrahedral mesh">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_tetrahedral_hand_thumb.png
    :alt: Hand as tetrahedral mesh

  :ref:`sphx_glr__auto_examples_visualizations_vis_tetrahedral_hand.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Hand as tetrahedral mesh</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Visualize Intersection of Tetrahedra">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_tetrahedron_intersection_thumb.png
    :alt: Visualize Intersection of Tetrahedra

  :ref:`sphx_glr__auto_examples_visualizations_vis_tetrahedron_intersection.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Visualize Intersection of Tetrahedra</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Visualize Subdivision of the AABB Tree">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_tree_subdevision_thumb.png
    :alt: Visualize Subdivision of the AABB Tree

  :ref:`sphx_glr__auto_examples_visualizations_vis_tree_subdevision.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Visualize Subdivision of the AABB Tree</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Benchmark collision detection for boxes">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_boxes_benchmark_thumb.png
    :alt: Benchmark collision detection for boxes

  :ref:`sphx_glr__auto_examples_visualizations_vis_boxes_benchmark.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Benchmark collision detection for boxes</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Benchmark collision detection for disks">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_disk_benchmark_thumb.png
    :alt: Benchmark collision detection for disks

  :ref:`sphx_glr__auto_examples_visualizations_vis_disk_benchmark.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Benchmark collision detection for disks</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Benchmark collision detection for ellipses">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_ellipse_benchmark_thumb.png
    :alt: Benchmark collision detection for ellipses

  :ref:`sphx_glr__auto_examples_visualizations_vis_ellipse_benchmark.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Benchmark collision detection for ellipses</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Physical simulation with collision detection">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_collision_physics_thumb.png
    :alt: Physical simulation with collision detection

  :ref:`sphx_glr__auto_examples_visualizations_vis_collision_physics.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Physical simulation with collision detection</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Benchmark collision detection for cones">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_cone_benchmark_thumb.png
    :alt: Benchmark collision detection for cones

  :ref:`sphx_glr__auto_examples_visualizations_vis_cone_benchmark.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Benchmark collision detection for cones</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Benchmark collision detection for ellipsoids">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_ellipsoids_benchmark_thumb.png
    :alt: Benchmark collision detection for ellipsoids

  :ref:`sphx_glr__auto_examples_visualizations_vis_ellipsoids_benchmark.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Benchmark collision detection for ellipsoids</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Benchmark collision detection for capsules">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_capsules_benchmark_thumb.png
    :alt: Benchmark collision detection for capsules

  :ref:`sphx_glr__auto_examples_visualizations_vis_capsules_benchmark.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Benchmark collision detection for capsules</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Benchmark collision detection for cylinders">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_cylinders_benchmark_thumb.png
    :alt: Benchmark collision detection for cylinders

  :ref:`sphx_glr__auto_examples_visualizations_vis_cylinders_benchmark.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Benchmark collision detection for cylinders</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Visualize pressure fields with different young&#x27;s moduli">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_youngs_modulus_thumb.png
    :alt: Visualize pressure fields with different young's moduli

  :ref:`sphx_glr__auto_examples_visualizations_vis_youngs_modulus.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Visualize pressure fields with different young's moduli</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Benchmark collision detection for meshes">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_mesh_benchmark_thumb.png
    :alt: Benchmark collision detection for meshes

  :ref:`sphx_glr__auto_examples_visualizations_vis_mesh_benchmark.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Benchmark collision detection for meshes</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Self-collisions of a robot">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_self_collisions_thumb.png
    :alt: Self-collisions of a robot

  :ref:`sphx_glr__auto_examples_visualizations_vis_self_collisions.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Self-collisions of a robot</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Visualize Pressure Field of Two Colliding Objects">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_pressure_field_thumb.png
    :alt: Visualize Pressure Field of Two Colliding Objects

  :ref:`sphx_glr__auto_examples_visualizations_vis_pressure_field.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Visualize Pressure Field of Two Colliding Objects</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Physical Simulation of Bouncing Ball">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_pressure_field_collision_thumb.png
    :alt: Physical Simulation of Bouncing Ball

  :ref:`sphx_glr__auto_examples_visualizations_vis_pressure_field_collision.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Physical Simulation of Bouncing Ball</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Closest Points with GJK">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_closest_points_thumb.png
    :alt: Closest Points with GJK

  :ref:`sphx_glr__auto_examples_visualizations_vis_closest_points.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Closest Points with GJK</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Physical Simulation of Bouncing Ball on Hand">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_tetrahedral_hand_collision_thumb.png
    :alt: Physical Simulation of Bouncing Ball on Hand

  :ref:`sphx_glr__auto_examples_visualizations_vis_tetrahedral_hand_collision.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Physical Simulation of Bouncing Ball on Hand</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Collisions between robot and environment">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_robot_collision_objects_thumb.png
    :alt: Collisions between robot and environment

  :ref:`sphx_glr__auto_examples_visualizations_vis_robot_collision_objects.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Collisions between robot and environment</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Physical Simulation of Soft Balls Bouncing in a Wooden Box">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_pressure_field_collision_multiple_objects_thumb.png
    :alt: Physical Simulation of Soft Balls Bouncing in a Wooden Box

  :ref:`sphx_glr__auto_examples_visualizations_vis_pressure_field_collision_multiple_objects.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Physical Simulation of Soft Balls Bouncing in a Wooden Box</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Visualize Pressure Fields of Moving Object">

.. only:: html

  .. image:: /_auto_examples/visualizations/images/thumb/sphx_glr_vis_pressure_field_moving_thumb.png
    :alt: Visualize Pressure Fields of Moving Object

  :ref:`sphx_glr__auto_examples_visualizations_vis_pressure_field_moving.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Visualize Pressure Fields of Moving Object</div>
    </div>


.. raw:: html

    </div>

Planar Algorithms
-----------------


.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Halfplane Intersection">

.. only:: html

  .. image:: /_auto_examples/plane/images/thumb/sphx_glr_plot_halfplane_intersection_thumb.png
    :alt: Halfplane Intersection

  :ref:`sphx_glr__auto_examples_plane_plot_halfplane_intersection.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Halfplane Intersection</div>
    </div>


.. raw:: html

    </div>


.. toctree::
   :hidden:
   :includehidden:

   /_auto_examples/aabbtree/index.rst
   /_auto_examples/containment_test/index.rst
   /_auto_examples/distance/index.rst
   /_auto_examples/gjk/index.rst
   /_auto_examples/visualizations/index.rst
   /_auto_examples/plane/index.rst


.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-gallery

    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download all examples in Python source code: _auto_examples_python.zip </_auto_examples/_auto_examples_python.zip>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download all examples in Jupyter notebooks: _auto_examples_jupyter.zip </_auto_examples/_auto_examples_jupyter.zip>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_