openGJK: compute minimum distance between 3D polyhedra

Version 1.2 (41,1 KB) von Mattia

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

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

Verfolgen

5.0

(3)

305 Downloads

Aktualisiert 28 Dez 2023

Lizenz auf GitHub anzeigen

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

Zitieren als

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.

Mehrere Stile anzeigen

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.

Mehrere Stile anzeigen

Kompatibilität der MATLAB-Version

Erstellt mit R2018b

Kompatibel mit R2016a und späteren Versionen

Plattform-Kompatibilität

Windows macOS Linux

Tags Tags hinzufügen

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

examples/matlab

Versionen, die den GitHub-Standardzweig verwenden, können nicht heruntergeladen werden

Version	Veröffentlicht	Versionshinweise
1.2	28 Dez 2023	link and docs
1.0.2	22 Mär 2021	Docs and links updates
1.0.1	22 Mär 2021	Update description.
1.0.0	16 Mär 2019

Um Probleme in diesem GitHub Add-On anzuzeigen oder zu melden, besuchen Sie das GitHub Repository.

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}} }