distance3d¶

Distance computation and collision detection in 3D in pure Python.

Features¶

Collision detection and distance computation with GJK.
Calculation of penetration depth with EPA.
Collision detection and calculation of penetration depth with MPR.
Various specific distance calculations for points, lines, line segments, planes, triangles, rectangles, circles, disks, boxes, cylinders, ellipsoids, …
Broad phase collision detection with bounding volume hierarchy (AABB tree).
Self-collision detection for robots.
Contact wrench computation with hydroelastic contact model (pressure field model).