3 years ago

OpenGJK for C, C# and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space

Mattia Montanari, Nik Petrinic

Publication date: January–June 2018

Source: SoftwareX, Volume 7

Author(s): Mattia Montanari, Nik Petrinic


Implementing a reliable algorithm for computing the distance between convex bodies is an involved and time-consuming task. Common applications of these algorithms include robot path planning, image rendering and collision detection. However, each application has strict requirements in terms of either accuracy or speed, making the implementation less portable and more difficult. This paper introduces openGJK, a library for solving distance queries between convex bodies that are simply described by lists of points. OpenGJK features the fastest and most accurate version of the Gilbert–Johnson–Keerthi (GJK) algorithm published to date, is written in C, cross-platform and comes with interfaces for C# and Matlab.

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