openGJK: compute minimum distance between 3D polyhedra

版本 1.2 (41.1 KB) 作者: Mattia

Fast and reliable implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm. University of Oxford.

https://www.mattiamontanari.com/opengjk/

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更新时间 2023/12/28

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This reposity implements a new verstion of the GJK algorithm to compute the minimum ditance between two convex bodies in 3D. All it needs are the coordinates of the bodies in [N x 3] matrices, where N is the number of points defining a body.

An example is provided in example2_mex/runme.m. By running this file, Matlab will compile a MEX funciton which is called thereaftert. To compile a MEX function you'll need a C/C++ compiler, please refer to Matlab documention or leave a comment below.

Thanks to Kwanyuan Chan for this tip to Windows users: Matlab users need to set up the MinGW-w64 C/C++ compiler before running the example2_mex/runme.m file. More about the compile and related setting procedures at:https://www.mathworks.com/matlabcentral/fileexchange/52848-matlab-support-for-mingw-w64-c-c-compiler

引用格式

Montanari, Mattia, et al. “Improving the GJK Algorithm for Faster and More Reliable Distance Queries Between Convex Objects.” ACM Transactions on Graphics, vol. 36, no. 4, Association for Computing Machinery (ACM), June 2017, p. 1, doi:10.1145/3072959.3083724.

查看更多格式

Montanari, Mattia, and Nik Petrinic. “OpenGJK for C, C# and Matlab: Reliable Solutions to Distance Queries between Convex Bodies in Three-Dimensional Space.” SoftwareX, vol. 7, Elsevier BV, Jan. 2018, pp. 352–55, doi:10.1016/j.softx.2018.10.002.

查看更多格式

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无法下载基于 GitHub 默认分支的版本

版本	已发布	发行说明
1.2	2023/12/28	link and docs
1.0.2	2021/3/22	Docs and links updates
1.0.1	2021/3/22	Update description.
1.0.0	2019/3/16

要查看或报告此来自 GitHub 的附加功能中的问题，请访问其 GitHub 仓库。

MLA	Montanari, Mattia, et al. “Improving the GJK Algorithm for Faster and More Reliable Distance Queries Between Convex Objects.” ACM Transactions on Graphics, vol. 36, no. 4, Association for Computing Machinery (ACM), June 2017, p. 1, doi:10.1145/3072959.3083724.
APA	Montanari, M., Petrinic, N., & Barbieri, E. (2017). Improving the GJK Algorithm for Faster and More Reliable Distance Queries Between Convex Objects. ACM Transactions on Graphics, 36(4), 1. Association for Computing Machinery (ACM). Retrieved from https://doi.org/10.1145%2F3072959.3083724
BibTeX	@article{Montanari_2017, doi = {10.1145/3072959.3083724}, url = {https://doi.org/10.1145%2F3072959.3083724}, year = 2017, month = {jun}, publisher = {Association for Computing Machinery ({ACM})}, volume = {36}, number = {4}, pages = {1}, author = {Mattia Montanari and Nik Petrinic and Ettore Barbieri}, title = {Improving the {GJK} Algorithm for Faster and More Reliable Distance Queries Between Convex Objects}, journal = {{ACM} Transactions on Graphics} }

MLA	Montanari, Mattia, and Nik Petrinic. “OpenGJK for C, C# and Matlab: Reliable Solutions to Distance Queries between Convex Bodies in Three-Dimensional Space.” SoftwareX, vol. 7, Elsevier BV, Jan. 2018, pp. 352–55, doi:10.1016/j.softx.2018.10.002.
APA	Montanari, M., & Petrinic, N. (2018). OpenGJK for C, C# and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space. SoftwareX, 7, 352–355. Elsevier BV. Retrieved from https://doi.org/10.1016%2Fj.softx.2018.10.002
BibTeX	@article{Montanari_2018, doi = {10.1016/j.softx.2018.10.002}, url = {https://doi.org/10.1016%2Fj.softx.2018.10.002}, year = 2018, month = {jan}, publisher = {Elsevier {BV}}, volume = {7}, pages = {352--355}, author = {Mattia Montanari and Nik Petrinic}, title = {{OpenGJK} for C, C{\#}~and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space}, journal = {{SoftwareX}} }

openGJK: compute minimum distance between 3D polyhedra