swMATH ID: 32667
Software Authors: Mattia Montanari; Nik Petrinic
Description: OpenGJK for C, C# and Matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space. 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.
Homepage: https://www.sciencedirect.com/science/article/pii/S2352711018300591
Source Code:  https://github.com/MattiaMontanari/openGJK
Dependencies: Matlab
Keywords: Minimum distance; Collision detection; GJK algorithm; Gilbert–Johnson–Keerthi; Matlab; SoftwareX
Related Software: Matlab; SIR; featsel; Optimel; OPTool; YADE; Bullet; SOLID
Cited in: 0 Publications

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